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Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h | 93 |
1 files changed, 0 insertions, 93 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h deleted file mode 100644 index faa02287ca..0000000000 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ /dev/null @@ -1,93 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef BT_GJK_PAIR_DETECTOR_H -#define BT_GJK_PAIR_DETECTOR_H - -#include "btDiscreteCollisionDetectorInterface.h" -#include "BulletCollision/CollisionShapes/btCollisionMargin.h" - -class btConvexShape; -#include "btSimplexSolverInterface.h" -class btConvexPenetrationDepthSolver; - -/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface -class btGjkPairDetector : public btDiscreteCollisionDetectorInterface -{ - btVector3 m_cachedSeparatingAxis; - btConvexPenetrationDepthSolver* m_penetrationDepthSolver; - btSimplexSolverInterface* m_simplexSolver; - const btConvexShape* m_minkowskiA; - const btConvexShape* m_minkowskiB; - int m_shapeTypeA; - int m_shapeTypeB; - btScalar m_marginA; - btScalar m_marginB; - - bool m_ignoreMargin; - btScalar m_cachedSeparatingDistance; - -public: - //some debugging to fix degeneracy problems - int m_lastUsedMethod; - int m_curIter; - int m_degenerateSimplex; - int m_catchDegeneracies; - int m_fixContactNormalDirection; - - btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver); - btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver); - virtual ~btGjkPairDetector(){}; - - virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false); - - void getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw); - - void setMinkowskiA(const btConvexShape* minkA) - { - m_minkowskiA = minkA; - } - - void setMinkowskiB(const btConvexShape* minkB) - { - m_minkowskiB = minkB; - } - void setCachedSeparatingAxis(const btVector3& separatingAxis) - { - m_cachedSeparatingAxis = separatingAxis; - } - - const btVector3& getCachedSeparatingAxis() const - { - return m_cachedSeparatingAxis; - } - btScalar getCachedSeparatingDistance() const - { - return m_cachedSeparatingDistance; - } - - void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver) - { - m_penetrationDepthSolver = penetrationDepthSolver; - } - - ///don't use setIgnoreMargin, it's for Bullet's internal use - void setIgnoreMargin(bool ignoreMargin) - { - m_ignoreMargin = ignoreMargin; - } -}; - -#endif //BT_GJK_PAIR_DETECTOR_H |