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

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btSphereBoxCollisionAlgorithm.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_SPHERE_BOX_COLLISION_ALGORITHM_H
17#define BT_SPHERE_BOX_COLLISION_ALGORITHM_H
18
19#include "btActivatingCollisionAlgorithm.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
22class btPersistentManifold;
23#include "btCollisionDispatcher.h"
24
25#include "LinearMath/btVector3.h"
26
29 class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
30{
31 bool m_ownManifold;
32 btPersistentManifold* m_manifoldPtr;
33 bool m_isSwapped;
34
35public:
36 btSphereBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
37
38 virtual ~btSphereBoxCollisionAlgorithm();
39
40 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
41
42 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
43
44 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
45 {
46 if (m_manifoldPtr && m_ownManifold)
47 {
48 manifoldArray.push_back(m_manifoldPtr);
49 }
50 }
51
52 bool getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance);
53
54 btScalar getSpherePenetration(btVector3 const& boxHalfExtent, btVector3 const& sphereRelPos, btVector3& closestPoint, btVector3& normal);
55
56 struct CreateFunc : public btCollisionAlgorithmCreateFunc
57 {
58 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
59 {
60 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
61 if (!m_swapped)
62 {
63 return new (mem) btSphereBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
64 }
65 else
66 {
67 return new (mem) btSphereBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
68 }
69 }
70 };
71};
72
73#endif //BT_SPHERE_BOX_COLLISION_ALGORITHM_H
btActivatingCollisionAlgorithm.h
btBroadphaseProxy.h
btCollisionCreateFunc.h
btCollisionDispatcher.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btVector3.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
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
btSphereBoxCollisionAlgorithm
btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
Definition btSphereBoxCollisionAlgorithm.h:30
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm
btSphereBoxCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition btSphereBoxCollisionAlgorithm.cpp:24
btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm
virtual ~btSphereBoxCollisionAlgorithm()
Definition btSphereBoxCollisionAlgorithm.cpp:40
btSphereBoxCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition btSphereBoxCollisionAlgorithm.h:32
btSphereBoxCollisionAlgorithm::getSphereDistance
bool getSphereDistance(const btCollisionObjectWrapper *boxObjWrap, btVector3 &v3PointOnBox, btVector3 &normal, btScalar &penetrationDepth, const btVector3 &v3SphereCenter, btScalar fRadius, btScalar maxContactDistance)
Definition btSphereBoxCollisionAlgorithm.cpp:96
btSphereBoxCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition btSphereBoxCollisionAlgorithm.h:33
btSphereBoxCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btSphereBoxCollisionAlgorithm.cpp:49
btSphereBoxCollisionAlgorithm::getSpherePenetration
btScalar getSpherePenetration(btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3 &normal)
Definition btSphereBoxCollisionAlgorithm.cpp:155
btSphereBoxCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition btSphereBoxCollisionAlgorithm.h:44
btSphereBoxCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition btSphereBoxCollisionAlgorithm.h:31
btSphereBoxCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btSphereBoxCollisionAlgorithm.cpp:85
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btCollisionAlgorithmConstructionInfo
Definition btCollisionAlgorithm.h:33
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
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition btCollisionCreateFunc.h:28
btCollisionObjectWrapper
Definition btCollisionObjectWrapper.h:18
btDispatcherInfo
Definition btDispatcher.h:31
btSphereBoxCollisionAlgorithm::CreateFunc
Definition btSphereBoxCollisionAlgorithm.h:57
btSphereBoxCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition btSphereBoxCollisionAlgorithm.h:58