diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h index 28c2b4d6156..bdc0572f75a 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h @@ -14,13 +14,14 @@ subject to the following restrictions: */ -#ifndef CONTINUOUS_COLLISION_CONVEX_CAST_H -#define CONTINUOUS_COLLISION_CONVEX_CAST_H +#ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H +#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H #include "btConvexCast.h" #include "btSimplexSolverInterface.h" class btConvexPenetrationDepthSolver; class btConvexShape; +class btStaticPlaneShape; /// btContinuousConvexCollision implements angular and linear time of impact for convex objects. /// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis). @@ -31,13 +32,18 @@ class btContinuousConvexCollision : public btConvexCast btSimplexSolverInterface* m_simplexSolver; btConvexPenetrationDepthSolver* m_penetrationDepthSolver; const btConvexShape* m_convexA; - const btConvexShape* m_convexB; + //second object is either a convex or a plane (code sharing) + const btConvexShape* m_convexB1; + const btStaticPlaneShape* m_planeShape; + 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 btStaticPlaneShape* plane ); + virtual bool calcTimeOfImpact( const btTransform& fromA, const btTransform& toA, @@ -48,5 +54,6 @@ public: }; -#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H + +#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H |