93 lines
3.3 KiB
C++
93 lines
3.3 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_GJK_PAIR_DETECTOR_H
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#define BT_GJK_PAIR_DETECTOR_H
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#include "btDiscreteCollisionDetectorInterface.h"
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
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class btConvexShape;
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#include "btSimplexSolverInterface.h"
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class btConvexPenetrationDepthSolver;
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/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
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class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
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{
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btVector3 m_cachedSeparatingAxis;
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btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
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btSimplexSolverInterface* m_simplexSolver;
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const btConvexShape* m_minkowskiA;
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const btConvexShape* m_minkowskiB;
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int m_shapeTypeA;
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int m_shapeTypeB;
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btScalar m_marginA;
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btScalar m_marginB;
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bool m_ignoreMargin;
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btScalar m_cachedSeparatingDistance;
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public:
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//some debugging to fix degeneracy problems
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int m_lastUsedMethod;
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int m_curIter;
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int m_degenerateSimplex;
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int m_catchDegeneracies;
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int m_fixContactNormalDirection;
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btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
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btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
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virtual ~btGjkPairDetector(){};
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virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
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void getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw);
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void setMinkowskiA(const btConvexShape* minkA)
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{
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m_minkowskiA = minkA;
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}
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void setMinkowskiB(const btConvexShape* minkB)
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{
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m_minkowskiB = minkB;
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}
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void setCachedSeparatingAxis(const btVector3& separatingAxis)
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{
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m_cachedSeparatingAxis = separatingAxis;
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}
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const btVector3& getCachedSeparatingAxis() const
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{
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return m_cachedSeparatingAxis;
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}
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btScalar getCachedSeparatingDistance() const
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{
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return m_cachedSeparatingDistance;
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}
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void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
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{
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m_penetrationDepthSolver = penetrationDepthSolver;
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}
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///don't use setIgnoreMargin, it's for Bullet's internal use
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void setIgnoreMargin(bool ignoreMargin)
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{
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m_ignoreMargin = ignoreMargin;
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}
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};
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#endif //BT_GJK_PAIR_DETECTOR_H
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