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

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btGjkConvexCast.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_CONVEX_CAST_H
17#define BT_GJK_CONVEX_CAST_H
18
19#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
20
21#include "LinearMath/btVector3.h"
22#include "btConvexCast.h"
23class btConvexShape;
24class btMinkowskiSumShape;
25#include "btSimplexSolverInterface.h"
26
28 class btGjkConvexCast : public btConvexCast
29{
30 btSimplexSolverInterface* m_simplexSolver;
31 const btConvexShape* m_convexA;
32 const btConvexShape* m_convexB;
33
34public:
35 btGjkConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver);
36
38 virtual bool calcTimeOfImpact(
39 const btTransform& fromA,
40 const btTransform& toA,
41 const btTransform& fromB,
42 const btTransform& toB,
43 CastResult& result);
44};
45
46#endif //BT_GJK_CONVEX_CAST_H
btCollisionMargin.h
btConvexCast.h
btSimplexSolverInterface.h
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:24
btVector3.h
btConvexCast
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition: btConvexCast.h:40
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btGjkConvexCast
GjkConvexCast performs a raycast on a convex object using support mapping.
Definition: btGjkConvexCast.h:29
btGjkConvexCast::m_convexB
const btConvexShape * m_convexB
Definition: btGjkConvexCast.h:32
btGjkConvexCast::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btGjkConvexCast.h:30
btGjkConvexCast::calcTimeOfImpact
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
Definition: btGjkConvexCast.cpp:35
btGjkConvexCast::m_convexA
const btConvexShape * m_convexA
Definition: btGjkConvexCast.h:31
btMinkowskiSumShape
The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski su...
Definition: btMinkowskiSumShape.h:25
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:47