2020-11-16 14:47:43 +08:00
|
|
|
/*
|
|
|
|
|
Bullet Continuous Collision Detection and Physics Library
|
2021-12-20 18:52:45 +08:00
|
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
2020-11-16 14:47:43 +08:00
|
|
|
|
|
|
|
|
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 BT_POINT_COLLECTOR_H
|
|
|
|
|
#define BT_POINT_COLLECTOR_H
|
|
|
|
|
|
|
|
|
|
#include "btDiscreteCollisionDetectorInterface.h"
|
|
|
|
|
|
|
|
|
|
struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
|
|
|
|
|
{
|
|
|
|
|
btVector3 m_normalOnBInWorld;
|
|
|
|
|
btVector3 m_pointInWorld;
|
|
|
|
|
btScalar m_distance; //negative means penetration
|
|
|
|
|
|
|
|
|
|
bool m_hasResult;
|
|
|
|
|
|
|
|
|
|
btPointCollector()
|
|
|
|
|
: m_distance(btScalar(BT_LARGE_FLOAT)), m_hasResult(false)
|
|
|
|
|
{
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
virtual void setShapeIdentifiersA(int partId0, int index0)
|
|
|
|
|
{
|
|
|
|
|
(void)partId0;
|
|
|
|
|
(void)index0;
|
|
|
|
|
}
|
|
|
|
|
virtual void setShapeIdentifiersB(int partId1, int index1)
|
|
|
|
|
{
|
|
|
|
|
(void)partId1;
|
|
|
|
|
(void)index1;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
|
|
|
|
|
{
|
|
|
|
|
if (depth < m_distance)
|
|
|
|
|
{
|
|
|
|
|
m_hasResult = true;
|
|
|
|
|
m_normalOnBInWorld = normalOnBInWorld;
|
|
|
|
|
m_pointInWorld = pointInWorld;
|
|
|
|
|
//negative means penetration
|
|
|
|
|
m_distance = depth;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
#endif //BT_POINT_COLLECTOR_H
|
