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

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btGjkPairDetector.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_GJK_PAIR_DETECTOR_H
17#define BT_GJK_PAIR_DETECTOR_H
18
19#include "btDiscreteCollisionDetectorInterface.h"
20#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
21
22class btConvexShape;
23#include "btSimplexSolverInterface.h"
24class btConvexPenetrationDepthSolver;
25
27 class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
28{
29 btVector3 m_cachedSeparatingAxis;
30 btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
31 btSimplexSolverInterface* m_simplexSolver;
32 const btConvexShape* m_minkowskiA;
33 const btConvexShape* m_minkowskiB;
34 int m_shapeTypeA;
35 int m_shapeTypeB;
36 btScalar m_marginA;
37 btScalar m_marginB;
38
39 bool m_ignoreMargin;
40 btScalar m_cachedSeparatingDistance;
41
42public:
43 //some debugging to fix degeneracy problems
44 int m_lastUsedMethod;
45 int m_curIter;
46 int m_degenerateSimplex;
47 int m_catchDegeneracies;
48 int m_fixContactNormalDirection;
49
50 btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
51 btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
52 virtual ~btGjkPairDetector(){};
53
54 virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
55
56 void getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw);
57
58 void setMinkowskiA(const btConvexShape* minkA)
59 {
60 m_minkowskiA = minkA;
61 }
62
63 void setMinkowskiB(const btConvexShape* minkB)
64 {
65 m_minkowskiB = minkB;
66 }
67 void setCachedSeparatingAxis(const btVector3& separatingAxis)
68 {
69 m_cachedSeparatingAxis = separatingAxis;
70 }
71
72 const btVector3& getCachedSeparatingAxis() const
73 {
74 return m_cachedSeparatingAxis;
75 }
76 btScalar getCachedSeparatingDistance() const
77 {
78 return m_cachedSeparatingDistance;
79 }
80
81 void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
82 {
83 m_penetrationDepthSolver = penetrationDepthSolver;
84 }
85
87 void setIgnoreMargin(bool ignoreMargin)
88 {
89 m_ignoreMargin = ignoreMargin;
90 }
91};
92
93#endif //BT_GJK_PAIR_DETECTOR_H
btCollisionMargin.h
btDiscreteCollisionDetectorInterface.h
output
#define output
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSimplexSolverInterface.h
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:24
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btGjkPairDetector
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
Definition: btGjkPairDetector.h:28
btGjkPairDetector::m_ignoreMargin
bool m_ignoreMargin
Definition: btGjkPairDetector.h:39
btGjkPairDetector::m_marginB
btScalar m_marginB
Definition: btGjkPairDetector.h:37
btGjkPairDetector::m_minkowskiB
const btConvexShape * m_minkowskiB
Definition: btGjkPairDetector.h:33
btGjkPairDetector::getCachedSeparatingAxis
const btVector3 & getCachedSeparatingAxis() const
Definition: btGjkPairDetector.h:72
btGjkPairDetector::m_minkowskiA
const btConvexShape * m_minkowskiA
Definition: btGjkPairDetector.h:32
btGjkPairDetector::setPenetrationDepthSolver
void setPenetrationDepthSolver(btConvexPenetrationDepthSolver *penetrationDepthSolver)
Definition: btGjkPairDetector.h:81
btGjkPairDetector::m_shapeTypeA
int m_shapeTypeA
Definition: btGjkPairDetector.h:34
btGjkPairDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition: btGjkPairDetector.cpp:73
btGjkPairDetector::getCachedSeparatingDistance
btScalar getCachedSeparatingDistance() const
Definition: btGjkPairDetector.h:76
btGjkPairDetector::m_catchDegeneracies
int m_catchDegeneracies
Definition: btGjkPairDetector.h:47
btGjkPairDetector::m_lastUsedMethod
int m_lastUsedMethod
Definition: btGjkPairDetector.h:44
btGjkPairDetector::setCachedSeparatingAxis
void setCachedSeparatingAxis(const btVector3 &separatingAxis)
Definition: btGjkPairDetector.h:67
btGjkPairDetector::m_fixContactNormalDirection
int m_fixContactNormalDirection
Definition: btGjkPairDetector.h:48
btGjkPairDetector::~btGjkPairDetector
virtual ~btGjkPairDetector()
Definition: btGjkPairDetector.h:52
btGjkPairDetector::m_cachedSeparatingDistance
btScalar m_cachedSeparatingDistance
Definition: btGjkPairDetector.h:40
btGjkPairDetector::m_degenerateSimplex
int m_degenerateSimplex
Definition: btGjkPairDetector.h:46
btGjkPairDetector::setIgnoreMargin
void setIgnoreMargin(bool ignoreMargin)
don't use setIgnoreMargin, it's for Bullet's internal use
Definition: btGjkPairDetector.h:87
btGjkPairDetector::setMinkowskiA
void setMinkowskiA(const btConvexShape *minkA)
Definition: btGjkPairDetector.h:58
btGjkPairDetector::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btGjkPairDetector.h:31
btGjkPairDetector::m_cachedSeparatingAxis
btVector3 m_cachedSeparatingAxis
Definition: btGjkPairDetector.h:29
btGjkPairDetector::getClosestPointsNonVirtual
void getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
Definition: btGjkPairDetector.cpp:688
btGjkPairDetector::m_penetrationDepthSolver
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
Definition: btGjkPairDetector.h:30
btGjkPairDetector::m_curIter
int m_curIter
Definition: btGjkPairDetector.h:45
btGjkPairDetector::m_marginA
btScalar m_marginA
Definition: btGjkPairDetector.h:36
btGjkPairDetector::m_shapeTypeB
int m_shapeTypeB
Definition: btGjkPairDetector.h:35
btGjkPairDetector::setMinkowskiB
void setMinkowskiB(const btConvexShape *minkB)
Definition: btGjkPairDetector.h:63
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btDiscreteCollisionDetectorInterface
This interface is made to be used by an iterative approach to do TimeOfImpact calculations This inter...
Definition: btDiscreteCollisionDetectorInterface.h:28