47 lines
2.2 KiB
C++
47 lines
2.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SUBSIMPLEX_CONVEX_CAST_H
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#define BT_SUBSIMPLEX_CONVEX_CAST_H
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#include "btConvexCast.h"
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#include "btSimplexSolverInterface.h"
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class btConvexShape;
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/// btSubsimplexConvexCast implements Gino van den Bergens' paper
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///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection"
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/// GJK based Ray Cast, optimized version
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/// Objects should not start in overlap, otherwise results are not defined.
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class btSubsimplexConvexCast : public btConvexCast
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{
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btSimplexSolverInterface* m_simplexSolver;
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const btConvexShape* m_convexA;
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const btConvexShape* m_convexB;
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public:
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btSubsimplexConvexCast(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver);
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//virtual ~btSubsimplexConvexCast();
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///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
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///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.
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virtual bool calcTimeOfImpact(
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const btTransform& fromA,
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const btTransform& toA,
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const btTransform& fromB,
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const btTransform& toB,
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CastResult& result);
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};
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#endif //BT_SUBSIMPLEX_CONVEX_CAST_H
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