From e12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?R=C3=A9mi=20Verschelde?= Date: Sat, 13 Jan 2018 14:01:53 +0100 Subject: bullet: Streamline bundling, remove extraneous src/ folder Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one. --- .../NarrowPhaseCollision/btGjkPairDetector.h | 103 +++++++++++++++++++++ 1 file changed, 103 insertions(+) create mode 100644 thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h') diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h new file mode 100644 index 0000000000..feeae68621 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -0,0 +1,103 @@ +/* +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 setCachedSeperatingAxis(const btVector3& seperatingAxis) + { + m_cachedSeparatingAxis = seperatingAxis; + } + + 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 -- cgit v1.2.3