Bullet Collision Detection & Physics Library: btConvex2dConvex2dAlgorithm.h Source File

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btConvex2dConvex2dAlgorithm.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://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
16#ifndef BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
17#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
18
19#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
20#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
21#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
22#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
23#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
24#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
25#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
26#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
27
28class btConvexPenetrationDepthSolver;
29
32 class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
33{
34 btSimplexSolverInterface* m_simplexSolver;
35 btConvexPenetrationDepthSolver* m_pdSolver;
36
37 bool m_ownManifold;
38 btPersistentManifold* m_manifoldPtr;
39 bool m_lowLevelOfDetail;
40
41public:
42 btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
43
44 virtual ~btConvex2dConvex2dAlgorithm();
45
46 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
47
48 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
49
50 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
51 {
53 if (m_manifoldPtr && m_ownManifold)
54 manifoldArray.push_back(m_manifoldPtr);
55 }
56
57 void setLowLevelOfDetail(bool useLowLevel);
58
59 const btPersistentManifold* getManifold()
60 {
61 return m_manifoldPtr;
62 }
63
64 struct CreateFunc : public btCollisionAlgorithmCreateFunc
65 {
66 btConvexPenetrationDepthSolver* m_pdSolver;
67 btSimplexSolverInterface* m_simplexSolver;
68 int m_numPerturbationIterations;
69 int m_minimumPointsPerturbationThreshold;
70
71 CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
72
73 virtual ~CreateFunc();
74
75 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
76 {
77 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
78 return new (mem) btConvex2dConvex2dAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
79 }
80 };
81};
82
83#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
btActivatingCollisionAlgorithm.h
btBroadphaseProxy.h
btCollisionCreateFunc.h
btCollisionDispatcher.h
btGjkPairDetector.h
btPersistentManifold.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:24
btTransformUtil.h
btVoronoiSimplexSolver.h
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:23
btAlignedObjectArray< btPersistentManifold * >
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btConvex2dConvex2dAlgorithm
The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape ...
Definition: btConvex2dConvex2dAlgorithm.h:33
btConvex2dConvex2dAlgorithm::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvex2dConvex2dAlgorithm.h:35
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm
virtual ~btConvex2dConvex2dAlgorithm()
Definition: btConvex2dConvex2dAlgorithm.cpp:67
btConvex2dConvex2dAlgorithm::setLowLevelOfDetail
void setLowLevelOfDetail(bool useLowLevel)
Definition: btConvex2dConvex2dAlgorithm.cpp:76
btConvex2dConvex2dAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvex2dConvex2dAlgorithm.cpp:133
btConvex2dConvex2dAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvex2dConvex2dAlgorithm.h:38
btConvex2dConvex2dAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btConvex2dConvex2dAlgorithm.h:37
btConvex2dConvex2dAlgorithm::getManifold
const btPersistentManifold * getManifold()
Definition: btConvex2dConvex2dAlgorithm.h:59
btConvex2dConvex2dAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btConvex2dConvex2dAlgorithm.h:50
btConvex2dConvex2dAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvex2dConvex2dAlgorithm.cpp:86
btConvex2dConvex2dAlgorithm::m_lowLevelOfDetail
bool m_lowLevelOfDetail
Definition: btConvex2dConvex2dAlgorithm.h:39
btConvex2dConvex2dAlgorithm::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvex2dConvex2dAlgorithm.h:34
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::m_manifold
btPersistentManifold * m_manifold
Definition: btCollisionAlgorithm.h:46
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:27
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btConvex2dConvex2dAlgorithm::CreateFunc
Definition: btConvex2dConvex2dAlgorithm.h:65
btConvex2dConvex2dAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btConvex2dConvex2dAlgorithm.h:75
btConvex2dConvex2dAlgorithm::CreateFunc::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvex2dConvex2dAlgorithm.h:66
btConvex2dConvex2dAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvex2dConvex2dAlgorithm.h:68
btConvex2dConvex2dAlgorithm::CreateFunc::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvex2dConvex2dAlgorithm.h:67
btConvex2dConvex2dAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvex2dConvex2dAlgorithm.h:69
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc
virtual ~CreateFunc()
Definition: btConvex2dConvex2dAlgorithm.cpp:51
btDispatcherInfo
Definition: btDispatcher.h:31