mirror of https://github.com/axmolengine/axmol.git
86 lines
3.2 KiB
C
86 lines
3.2 KiB
C
|
/*
|
||
|
|
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 BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
|
||
|
|
#define BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
|
||
|
|
|
||
|
|
#include "LinearMath/btTransform.h"
|
||
|
|
#include "LinearMath/btVector3.h"
|
||
|
|
|
||
|
|
/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
|
||
|
|
/// This interface allows to query for closest points and penetration depth between two (convex) objects
|
||
|
|
/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
|
||
|
|
/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
|
||
|
|
/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
|
||
|
|
struct btDiscreteCollisionDetectorInterface
|
||
|
|
{
|
||
|
|
struct Result
|
||
|
|
{
|
||
|
|
virtual ~Result() {}
|
||
|
|
|
||
|
|
///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
|
||
|
|
virtual void setShapeIdentifiersA(int partId0, int index0) = 0;
|
||
|
|
virtual void setShapeIdentifiersB(int partId1, int index1) = 0;
|
||
|
|
virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct ClosestPointInput
|
||
|
|
{
|
||
|
|
ClosestPointInput()
|
||
|
|
: m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
btTransform m_transformA;
|
||
|
|
btTransform m_transformB;
|
||
|
|
btScalar m_maximumDistanceSquared;
|
||
|
|
};
|
||
|
|
|
||
|
|
virtual ~btDiscreteCollisionDetectorInterface(){};
|
||
|
|
|
||
|
|
//
|
||
|
|
// give either closest points (distance > 0) or penetration (distance)
|
||
|
|
// the normal always points from B towards A
|
||
|
|
//
|
||
|
|
virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
|
||
|
|
{
|
||
|
|
btVector3 m_normalOnSurfaceB;
|
||
|
|
btVector3 m_closestPointInB;
|
||
|
|
btScalar m_distance; //negative means penetration !
|
||
|
|
|
||
|
|
protected:
|
||
|
|
btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
public:
|
||
|
|
virtual ~btStorageResult(){};
|
||
|
|
|
||
|
|
virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
|
||
|
|
{
|
||
|
|
if (depth < m_distance)
|
||
|
|
{
|
||
|
|
m_normalOnSurfaceB = normalOnBInWorld;
|
||
|
|
m_closestPointInB = pointInWorld;
|
||
|
|
m_distance = depth;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
|