Bullet Collision Detection & Physics Library
btConvexCast.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 1. 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 
17 #ifndef BT_CONVEX_CAST_H
18 #define BT_CONVEX_CAST_H
19 
20 #include "LinearMath/btTransform.h"
21 #include "LinearMath/btVector3.h"
22 #include "LinearMath/btScalar.h"
25 
28 {
29 public:
30 
31 
32  virtual ~btConvexCast();
33 
36  struct CastResult
37  {
38  //virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0;
39 
40  virtual void DebugDraw(btScalar fraction) {(void)fraction;}
41  virtual void drawCoordSystem(const btTransform& trans) {(void)trans;}
42  virtual void reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;}
45  m_debugDrawer(0),
47  {
48  }
49 
50 
51  virtual ~CastResult() {};
52 
57  btScalar m_fraction; //input and output
60 
61  };
62 
63 
65  virtual bool calcTimeOfImpact(
66  const btTransform& fromA,
67  const btTransform& toA,
68  const btTransform& fromB,
69  const btTransform& toB,
70  CastResult& result) = 0;
71 };
72 
73 #endif //BT_CONVEX_CAST_H
virtual ~btConvexCast()
virtual void drawCoordSystem(const btTransform &trans)
Definition: btConvexCast.h:41
#define BT_LARGE_FLOAT
Definition: btScalar.h:294
btConvexCast is an interface for Casting
Definition: btConvexCast.h:27
btTransform m_hitTransformA
Definition: btConvexCast.h:51
virtual void DebugDraw(btScalar fraction)
Definition: btConvexCast.h:40
btIDebugDraw * m_debugDrawer
Definition: btConvexCast.h:58
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:36
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski su...
btTransform m_hitTransformB
Definition: btConvexCast.h:54
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual void reportFailure(int errNo, int numIterations)
Definition: btConvexCast.h:42
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)=0
cast a convex against another convex object