Bullet Collision Detection & Physics Library
btSphereBoxCollisionAlgorithm.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 #ifndef BT_SPHERE_BOX_COLLISION_ALGORITHM_H
17 #define BT_SPHERE_BOX_COLLISION_ALGORITHM_H
18 
23 #include "btCollisionDispatcher.h"
24 
25 #include "LinearMath/btVector3.h"
26 
30 {
34 
35 public:
36 
38 
40 
41  virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
42 
43  virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
44 
45  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
46  {
47  if (m_manifoldPtr && m_ownManifold)
48  {
49  manifoldArray.push_back(m_manifoldPtr);
50  }
51  }
52 
53  bool getSphereDistance( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance );
54 
55  btScalar getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal );
56 
58  {
60  {
62  if (!m_swapped)
63  {
64  return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false);
65  } else
66  {
67  return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true);
68  }
69  }
70  };
71 
72 };
73 
74 #endif //BT_SPHERE_BOX_COLLISION_ALGORITHM_H
75 
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
void push_back(const T &_Val)
btSphereBoxCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btManifoldResult is a helper class to manage contact results.
bool getSphereDistance(const btCollisionObjectWrapper *boxObjWrap, btVector3 &v3PointOnBox, btVector3 &normal, btScalar &penetrationDepth, const btVector3 &v3SphereCenter, btScalar fRadius, btScalar maxContactDistance)
virtual void * allocateCollisionAlgorithm(int size)=0
btScalar getSpherePenetration(btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3 &normal)
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
btCollisionObject can be used to manage collision detection objects.
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278