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Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h | 109 |
1 files changed, 0 insertions, 109 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h deleted file mode 100644 index d38aff6862c..00000000000 --- a/extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h +++ /dev/null @@ -1,109 +0,0 @@ -/* -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 CONVEX_CONVEX_ALGORITHM_H -#define CONVEX_CONVEX_ALGORITHM_H - -#include "btActivatingCollisionAlgorithm.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" -#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" -#include "btCollisionCreateFunc.h" -#include "btCollisionDispatcher.h" -#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil - -class btConvexPenetrationDepthSolver; - -///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise -///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. -///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util -///for certain pairs that have a small size ratio - -//#define USE_SEPDISTANCE_UTIL2 1 - -///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. -///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. -///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888 -class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm -{ -#ifdef USE_SEPDISTANCE_UTIL2 - btConvexSeparatingDistanceUtil m_sepDistance; -#endif - btSimplexSolverInterface* m_simplexSolver; - btConvexPenetrationDepthSolver* m_pdSolver; - - - bool m_ownManifold; - btPersistentManifold* m_manifoldPtr; - bool m_lowLevelOfDetail; - - int m_numPerturbationIterations; - int m_minimumPointsPerturbationThreshold; - - - ///cache separating vector to speedup collision detection - - -public: - - btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); - - - virtual ~btConvexConvexAlgorithm(); - - virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); - - virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); - - virtual void getAllContactManifolds(btManifoldArray& manifoldArray) - { - ///should we use m_ownManifold to avoid adding duplicates? - if (m_manifoldPtr && m_ownManifold) - manifoldArray.push_back(m_manifoldPtr); - } - - - void setLowLevelOfDetail(bool useLowLevel); - - - const btPersistentManifold* getManifold() - { - return m_manifoldPtr; - } - - struct CreateFunc :public btCollisionAlgorithmCreateFunc - { - - btConvexPenetrationDepthSolver* m_pdSolver; - btSimplexSolverInterface* m_simplexSolver; - int m_numPerturbationIterations; - int m_minimumPointsPerturbationThreshold; - - CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); - - virtual ~CreateFunc(); - - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) - { - void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm)); - return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); - } - }; - - -}; - -#endif //CONVEX_CONVEX_ALGORITHM_H |