58 lines
1.8 KiB
C++
58 lines
1.8 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_POINT_COLLECTOR_H
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#define BT_POINT_COLLECTOR_H
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#include "btDiscreteCollisionDetectorInterface.h"
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struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
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{
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btVector3 m_normalOnBInWorld;
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btVector3 m_pointInWorld;
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btScalar m_distance; //negative means penetration
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bool m_hasResult;
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btPointCollector()
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: m_distance(btScalar(BT_LARGE_FLOAT)), m_hasResult(false)
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{
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}
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virtual void setShapeIdentifiersA(int partId0, int index0)
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{
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(void)partId0;
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(void)index0;
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}
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virtual void setShapeIdentifiersB(int partId1, int index1)
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{
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(void)partId1;
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(void)index1;
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}
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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_hasResult = true;
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m_normalOnBInWorld = normalOnBInWorld;
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m_pointInWorld = pointInWorld;
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//negative means penetration
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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_POINT_COLLECTOR_H
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