diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h | 52 |
1 files changed, 21 insertions, 31 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h index feeae68621..659b63551e 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -13,9 +13,6 @@ subject to the following restrictions: 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 @@ -29,39 +26,34 @@ class btConvexPenetrationDepthSolver; /// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface class btGjkPairDetector : public btDiscreteCollisionDetectorInterface { - - - btVector3 m_cachedSeparatingAxis; - btConvexPenetrationDepthSolver* m_penetrationDepthSolver; + btVector3 m_cachedSeparatingAxis; + btConvexPenetrationDepthSolver* m_penetrationDepthSolver; btSimplexSolverInterface* m_simplexSolver; const btConvexShape* m_minkowskiA; const btConvexShape* m_minkowskiB; - int m_shapeTypeA; + int m_shapeTypeA; int m_shapeTypeB; - btScalar m_marginA; - btScalar m_marginB; + btScalar m_marginA; + btScalar m_marginB; - bool m_ignoreMargin; - btScalar m_cachedSeparatingDistance; - + 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; + 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() {}; + 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); + 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 getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw); void setMinkowskiA(const btConvexShape* minkA) { @@ -81,23 +73,21 @@ public: { return m_cachedSeparatingAxis; } - btScalar getCachedSeparatingDistance() const + btScalar getCachedSeparatingDistance() const { return m_cachedSeparatingDistance; } - void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver) + void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver) { m_penetrationDepthSolver = penetrationDepthSolver; } ///don't use setIgnoreMargin, it's for Bullet's internal use - void setIgnoreMargin(bool ignoreMargin) + void setIgnoreMargin(bool ignoreMargin) { m_ignoreMargin = ignoreMargin; } - - }; -#endif //BT_GJK_PAIR_DETECTOR_H +#endif //BT_GJK_PAIR_DETECTOR_H |