Bullet Collision Detection & Physics Library: btPolyhedralContactClipping.h Source File

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btPolyhedralContactClipping.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
17
18#ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
19#define BT_POLYHEDRAL_CONTACT_CLIPPING_H
20
21#include "LinearMath/btAlignedObjectArray.h"
22#include "LinearMath/btTransform.h"
23#include "btDiscreteCollisionDetectorInterface.h"
24
25class btConvexPolyhedron;
26
27 typedef btAlignedObjectArray<btVector3> btVertexArray;
28
29// Clips a face to the back of a plane
30 struct btPolyhedralContactClipping
31{
32 static void clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, const btScalar minDist, btScalar maxDist, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, btDiscreteCollisionDetectorInterface::Result& resultOut);
33
34 static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
35
36 static bool findSeparatingAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut);
37
39 static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS, btScalar planeEqWS);
40};
41
42#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H
btAlignedObjectArray.h
btDiscreteCollisionDetectorInterface.h
btVertexArray
btAlignedObjectArray< btVector3 > btVertexArray
Definition: btPolyhedralContactClipping.h:27
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btTransform.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btConvexPolyhedron
Definition: btConvexPolyhedron.h:35
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btDiscreteCollisionDetectorInterface::Result
Definition: btDiscreteCollisionDetectorInterface.h:30
btPolyhedralContactClipping
Definition: btPolyhedralContactClipping.h:31
btPolyhedralContactClipping::clipFace
static void clipFace(const btVertexArray &pVtxIn, btVertexArray &ppVtxOut, const btVector3 &planeNormalWS, btScalar planeEqWS)
the clipFace method is used internally
Definition: btPolyhedralContactClipping.cpp:30
btPolyhedralContactClipping::clipHullAgainstHull
static void clipHullAgainstHull(const btVector3 &separatingNormal1, const btConvexPolyhedron &hullA, const btConvexPolyhedron &hullB, const btTransform &transA, const btTransform &transB, const btScalar minDist, btScalar maxDist, btVertexArray &worldVertsB1, btVertexArray &worldVertsB2, btDiscreteCollisionDetectorInterface::Result &resultOut)
Definition: btPolyhedralContactClipping.cpp:513
btPolyhedralContactClipping::clipFaceAgainstHull
static void clipFaceAgainstHull(const btVector3 &separatingNormal, const btConvexPolyhedron &hullA, const btTransform &transA, btVertexArray &worldVertsB1, btVertexArray &worldVertsB2, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result &resultOut)
Definition: btPolyhedralContactClipping.cpp:405
btPolyhedralContactClipping::findSeparatingAxis
static bool findSeparatingAxis(const btConvexPolyhedron &hullA, const btConvexPolyhedron &hullB, const btTransform &transA, const btTransform &transB, btVector3 &sep, btDiscreteCollisionDetectorInterface::Result &resultOut)
Definition: btPolyhedralContactClipping.cpp:236