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

Bullet Collision Detection & Physics Library

btConvexConvexAlgorithm.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_CONVEX_CONVEX_ALGORITHM_H
17#define BT_CONVEX_CONVEX_ALGORITHM_H
18
19#include "btActivatingCollisionAlgorithm.h"
20#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
21#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
22#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
23#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
24#include "btCollisionCreateFunc.h"
25#include "btCollisionDispatcher.h"
26#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
27#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
28
29class btConvexPenetrationDepthSolver;
30
35
36//#define USE_SEPDISTANCE_UTIL2 1
37
41 class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
42{
43#ifdef USE_SEPDISTANCE_UTIL2
44 btConvexSeparatingDistanceUtil m_sepDistance;
45#endif
46 btConvexPenetrationDepthSolver* m_pdSolver;
47
48 btVertexArray worldVertsB1;
49 btVertexArray worldVertsB2;
50
51 bool m_ownManifold;
52 btPersistentManifold* m_manifoldPtr;
53 bool m_lowLevelOfDetail;
54
55 int m_numPerturbationIterations;
56 int m_minimumPointsPerturbationThreshold;
57
59
60public:
61 btConvexConvexAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
62
63 virtual ~btConvexConvexAlgorithm();
64
65 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
66
67 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
68
69 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
70 {
72 if (m_manifoldPtr && m_ownManifold)
73 manifoldArray.push_back(m_manifoldPtr);
74 }
75
76 void setLowLevelOfDetail(bool useLowLevel);
77
78 const btPersistentManifold* getManifold()
79 {
80 return m_manifoldPtr;
81 }
82
83 struct CreateFunc : public btCollisionAlgorithmCreateFunc
84 {
85 btConvexPenetrationDepthSolver* m_pdSolver;
86 int m_numPerturbationIterations;
87 int m_minimumPointsPerturbationThreshold;
88
89 CreateFunc(btConvexPenetrationDepthSolver* pdSolver);
90
91 virtual ~CreateFunc();
92
93 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
94 {
95 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
96 return new (mem) btConvexConvexAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
97 }
98 };
99};
100
101#endif //BT_CONVEX_CONVEX_ALGORITHM_H
btActivatingCollisionAlgorithm.h
btBroadphaseProxy.h
btManifoldArray
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
Definition btCollisionAlgorithm.h:30
btCollisionCreateFunc.h
btCollisionDispatcher.h
btGjkPairDetector.h
btPersistentManifold.h
btPolyhedralContactClipping.h
btVertexArray
btAlignedObjectArray< btVector3 > btVertexArray
Definition btPolyhedralContactClipping.h:27
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btTransformUtil.h
btVoronoiSimplexSolver.h
btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm
btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition btActivatingCollisionAlgorithm.cpp:20
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition btAlignedObjectArray.h:257
btCollisionAlgorithm::btCollisionAlgorithm
btCollisionAlgorithm()
Definition btCollisionAlgorithm.h:62
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btConvexConvexAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition btConvexConvexAlgorithm.h:52
btConvexConvexAlgorithm::getManifold
const btPersistentManifold * getManifold()
Definition btConvexConvexAlgorithm.h:78
btConvexConvexAlgorithm::m_lowLevelOfDetail
bool m_lowLevelOfDetail
Definition btConvexConvexAlgorithm.h:53
btConvexConvexAlgorithm::~btConvexConvexAlgorithm
virtual ~btConvexConvexAlgorithm()
Definition btConvexConvexAlgorithm.cpp:201
btConvexConvexAlgorithm::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition btConvexConvexAlgorithm.h:46
btConvexConvexAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btConvexConvexAlgorithm.cpp:792
btConvexConvexAlgorithm::setLowLevelOfDetail
void setLowLevelOfDetail(bool useLowLevel)
Definition btConvexConvexAlgorithm.cpp:210
btConvexConvexAlgorithm::btConvexConvexAlgorithm
btConvexConvexAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
cache separating vector to speedup collision detection
Definition btConvexConvexAlgorithm.cpp:184
btConvexConvexAlgorithm::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition btConvexConvexAlgorithm.h:56
btConvexConvexAlgorithm::worldVertsB2
btVertexArray worldVertsB2
Definition btConvexConvexAlgorithm.h:49
btConvexConvexAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition btConvexConvexAlgorithm.h:69
btConvexConvexAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btConvexConvexAlgorithm.cpp:273
btConvexConvexAlgorithm::worldVertsB1
btVertexArray worldVertsB1
Definition btConvexConvexAlgorithm.h:48
btConvexConvexAlgorithm::m_ownManifold
bool m_ownManifold
Definition btConvexConvexAlgorithm.h:51
btConvexConvexAlgorithm::m_numPerturbationIterations
int m_numPerturbationIterations
Definition btConvexConvexAlgorithm.h:55
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition btConvexPenetrationDepthSolver.h:26
btConvexSeparatingDistanceUtil
The btConvexSeparatingDistanceUtil can help speed up convex collision detection by conservatively upd...
Definition btTransformUtil.h:148
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
btCollisionAlgorithmConstructionInfo
Definition btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::m_manifold
btPersistentManifold * m_manifold
Definition btCollisionAlgorithm.h:46
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition btCollisionAlgorithm.h:45
btCollisionAlgorithmCreateFunc::btCollisionAlgorithmCreateFunc
btCollisionAlgorithmCreateFunc()
Definition btCollisionCreateFunc.h:30
btCollisionObjectWrapper
Definition btCollisionObjectWrapper.h:18
btConvexConvexAlgorithm::CreateFunc::CreateFunc
CreateFunc(btConvexPenetrationDepthSolver *pdSolver)
Definition btConvexConvexAlgorithm.cpp:173
btConvexConvexAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition btConvexConvexAlgorithm.h:86
btConvexConvexAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition btConvexConvexAlgorithm.h:93
btConvexConvexAlgorithm::CreateFunc::~CreateFunc
virtual ~CreateFunc()
Definition btConvexConvexAlgorithm.cpp:180
btConvexConvexAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition btConvexConvexAlgorithm.h:87
btConvexConvexAlgorithm::CreateFunc::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition btConvexConvexAlgorithm.h:85
btDispatcherInfo
Definition btDispatcher.h:31