Blender  V3.3
btContinuousConvexCollision.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
17 #define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
18 
19 #include "btConvexCast.h"
22 class btConvexShape;
23 class btStaticPlaneShape;
24 
30 {
31  btSimplexSolverInterface* m_simplexSolver;
32  btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
33  const btConvexShape* m_convexA;
34  //second object is either a convex or a plane (code sharing)
35  const btConvexShape* m_convexB1;
36  const btStaticPlaneShape* m_planeShape;
37 
38  void computeClosestPoints(const btTransform& transA, const btTransform& transB, struct btPointCollector& pointCollector);
39 
40 public:
41  btContinuousConvexCollision(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
42 
44 
45  virtual bool calcTimeOfImpact(
46  const btTransform& fromA,
47  const btTransform& toA,
48  const btTransform& fromB,
49  const btTransform& toB,
51 };
52 
53 #endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
#define btSimplexSolverInterface
btStaticPlaneShape(const btVector3 &planeNormal, btScalar planeConstant)
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btContinuousConvexCollision(const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
btConvexCast is an interface for Casting
Definition: btConvexCast.h:40
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.