85 lines
3.1 KiB
C++
85 lines
3.1 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_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
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#define BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btVector3.h"
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/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
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/// This interface allows to query for closest points and penetration depth between two (convex) objects
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/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
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/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
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/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
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struct btDiscreteCollisionDetectorInterface
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{
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struct Result
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{
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virtual ~Result() {}
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///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
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virtual void setShapeIdentifiersA(int partId0, int index0) = 0;
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virtual void setShapeIdentifiersB(int partId1, int index1) = 0;
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virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth) = 0;
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};
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struct ClosestPointInput
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{
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ClosestPointInput()
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: m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
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{
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}
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btTransform m_transformA;
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btTransform m_transformB;
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btScalar m_maximumDistanceSquared;
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};
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virtual ~btDiscreteCollisionDetectorInterface(){};
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//
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// give either closest points (distance > 0) or penetration (distance)
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// the normal always points from B towards A
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//
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virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false) = 0;
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};
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struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
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{
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btVector3 m_normalOnSurfaceB;
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btVector3 m_closestPointInB;
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btScalar m_distance; //negative means penetration !
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protected:
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btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
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{
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}
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public:
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virtual ~btStorageResult(){};
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virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
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{
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if (depth < m_distance)
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{
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m_normalOnSurfaceB = normalOnBInWorld;
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m_closestPointInB = pointInWorld;
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m_distance = depth;
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}
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}
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};
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#endif //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
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