diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h | 46 |
1 files changed, 19 insertions, 27 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h index cd75ba12d7..eac5b4d824 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h @@ -23,7 +23,7 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" #include "btCollisionCreateFunc.h" #include "btCollisionDispatcher.h" -#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil +#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil #include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h" class btConvexPenetrationDepthSolver; @@ -41,69 +41,61 @@ class btConvexPenetrationDepthSolver; class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm { #ifdef USE_SEPDISTANCE_UTIL2 - btConvexSeparatingDistanceUtil m_sepDistance; + btConvexSeparatingDistanceUtil m_sepDistance; #endif btConvexPenetrationDepthSolver* m_pdSolver; btVertexArray worldVertsB1; btVertexArray worldVertsB2; - - bool m_ownManifold; - btPersistentManifold* m_manifoldPtr; - bool m_lowLevelOfDetail; - + + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_lowLevelOfDetail; + int m_numPerturbationIterations; int m_minimumPointsPerturbationThreshold; - ///cache separating vector to speedup collision detection - public: - - btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + btConvexConvexAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); virtual ~btConvexConvexAlgorithm(); - virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut); - virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut); - virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) { ///should we use m_ownManifold to avoid adding duplicates? if (m_manifoldPtr && m_ownManifold) manifoldArray.push_back(m_manifoldPtr); } + void setLowLevelOfDetail(bool useLowLevel); - void setLowLevelOfDetail(bool useLowLevel); - - - const btPersistentManifold* getManifold() + const btPersistentManifold* getManifold() { return m_manifoldPtr; } - struct CreateFunc :public btCollisionAlgorithmCreateFunc + struct CreateFunc : public btCollisionAlgorithmCreateFunc { - - btConvexPenetrationDepthSolver* m_pdSolver; + btConvexPenetrationDepthSolver* m_pdSolver; int m_numPerturbationIterations; int m_minimumPointsPerturbationThreshold; CreateFunc(btConvexPenetrationDepthSolver* pdSolver); - + virtual ~CreateFunc(); - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) { void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm)); - return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + return new (mem) btConvexConvexAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold); } }; - - }; -#endif //BT_CONVEX_CONVEX_ALGORITHM_H +#endif //BT_CONVEX_CONVEX_ALGORITHM_H |