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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h | 80 |
1 files changed, 0 insertions, 80 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h b/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h deleted file mode 100644 index d6c9b0a07e..0000000000 --- a/thirdparty/bullet/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h +++ /dev/null @@ -1,80 +0,0 @@ - -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -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 B3_CONTACT_CACHE_H -#define B3_CONTACT_CACHE_H - - -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Common/b3Transform.h" -#include "Bullet3Common/b3AlignedAllocator.h" - - -///maximum contact breaking and merging threshold -extern b3Scalar gContactBreakingThreshold; - - - -#define MANIFOLD_CACHE_SIZE 4 - -///b3ContactCache is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. -///Those contact points are created by the collision narrow phase. -///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time. -///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large) -///reduces the cache to 4 points, when more then 4 points are added, using following rules: -///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points -///note that some pairs of objects might have more then one contact manifold. -B3_ATTRIBUTE_ALIGNED16( class) b3ContactCache -{ - - - - - /// sort cached points so most isolated points come first - int sortCachedPoints(const b3Vector3& pt); - - - -public: - - B3_DECLARE_ALIGNED_ALLOCATOR(); - - - - int addManifoldPoint( const b3Vector3& newPoint); - - /*void replaceContactPoint(const b3Vector3& newPoint,int insertIndex) - { - b3Assert(validContactDistance(newPoint)); - m_pointCache[insertIndex] = newPoint; - } - */ - - - - static bool validContactDistance(const b3Vector3& pt); - - /// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin - static void refreshContactPoints( const b3Transform& trA,const b3Transform& trB, struct b3Contact4Data& newContactCache); - - static void removeContactPoint(struct b3Contact4Data& newContactCache,int i); - - -}; - - - -#endif //B3_CONTACT_CACHE_H |