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btGjkPairDetector.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/




#ifndef GJK_PAIR_DETECTOR_H
#define GJK_PAIR_DETECTOR_H

#include "btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"

class btConvexShape;
#include "btSimplexSolverInterface.h"
class btConvexPenetrationDepthSolver;

/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
00030 class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
{
      

      btVector3   m_cachedSeparatingAxis;
      btConvexPenetrationDepthSolver*     m_penetrationDepthSolver;
      btSimplexSolverInterface* m_simplexSolver;
      const btConvexShape* m_minkowskiA;
      const btConvexShape* m_minkowskiB;
      bool        m_ignoreMargin;
      btScalar    m_cachedSeparatingDistance;
      

public:

      //some debugging to fix degeneracy problems
      int               m_lastUsedMethod;
      int               m_curIter;
      int               m_degenerateSimplex;
      int               m_catchDegeneracies;


      btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*   penetrationDepthSolver);
      virtual ~btGjkPairDetector() {};

      virtual void      getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);

      void setMinkowskiA(btConvexShape* minkA)
      {
            m_minkowskiA = minkA;
      }

      void setMinkowskiB(btConvexShape* minkB)
      {
            m_minkowskiB = minkB;
      }
      void setCachedSeperatingAxis(const btVector3& seperatingAxis)
      {
            m_cachedSeparatingAxis = seperatingAxis;
      }

      const btVector3& getCachedSeparatingAxis() const
      {
            return m_cachedSeparatingAxis;
      }
      btScalar    getCachedSeparatingDistance() const
      {
            return m_cachedSeparatingDistance;
      }

      void  setPenetrationDepthSolver(btConvexPenetrationDepthSolver*   penetrationDepthSolver)
      {
            m_penetrationDepthSolver = penetrationDepthSolver;
      }

      ///don't use setIgnoreMargin, it's for Bullet's internal use
00086       void  setIgnoreMargin(bool ignoreMargin)
      {
            m_ignoreMargin = ignoreMargin;
      }


};

#endif //GJK_PAIR_DETECTOR_H

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