diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h | 36 |
1 files changed, 15 insertions, 21 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h index bdc0572f75a..67b2205c366 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h @@ -13,7 +13,6 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - #ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H #define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H @@ -25,35 +24,30 @@ class btStaticPlaneShape; /// 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. +/// Algorithm operates in worldspace, in order to keep in between 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; + btConvexPenetrationDepthSolver* m_penetrationDepthSolver; + const btConvexShape* m_convexA; //second object is either a convex or a plane (code sharing) - const btConvexShape* m_convexB1; - const btStaticPlaneShape* m_planeShape; + const btConvexShape* m_convexB1; + const btStaticPlaneShape* m_planeShape; - void computeClosestPoints( const btTransform& transA, const btTransform& transB,struct btPointCollector& pointCollector); + void computeClosestPoints(const btTransform& transA, const btTransform& transB, struct btPointCollector& pointCollector); public: + btContinuousConvexCollision(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver); - btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); - - btContinuousConvexCollision(const btConvexShape* shapeA,const btStaticPlaneShape* plane ); - - virtual bool calcTimeOfImpact( - const btTransform& fromA, - const btTransform& toA, - const btTransform& fromB, - const btTransform& toB, - CastResult& result); - + btContinuousConvexCollision(const btConvexShape* shapeA, const btStaticPlaneShape* plane); + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result); }; - -#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H - +#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H |