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Diffstat (limited to 'extern/bullet2/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h')
-rw-r--r-- | extern/bullet2/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h | 52 |
1 files changed, 52 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/extern/bullet2/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h new file mode 100644 index 00000000000..28c2b4d6156 --- /dev/null +++ b/extern/bullet2/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h @@ -0,0 +1,52 @@ +/* +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 CONTINUOUS_COLLISION_CONVEX_CAST_H +#define CONTINUOUS_COLLISION_CONVEX_CAST_H + +#include "btConvexCast.h" +#include "btSimplexSolverInterface.h" +class btConvexPenetrationDepthSolver; +class btConvexShape; + +/// btContinuousConvexCollision implements angular and linear time of impact for convex objects. +/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis). +/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent. +/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops +class btContinuousConvexCollision : public btConvexCast +{ + btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_penetrationDepthSolver; + const btConvexShape* m_convexA; + const btConvexShape* m_convexB; + + +public: + + btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result); + + +}; + +#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H + |