90 lines
3.1 KiB
C++
90 lines
3.1 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_CONVEX_CAST_H
|
|
#define BT_CONVEX_CAST_H
|
|
|
|
#include "LinearMath/btTransform.h"
|
|
#include "LinearMath/btVector3.h"
|
|
#include "LinearMath/btScalar.h"
|
|
class btMinkowskiSumShape;
|
|
#include "LinearMath/btIDebugDraw.h"
|
|
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
|
#define MAX_CONVEX_CAST_ITERATIONS 64
|
|
#define MAX_CONVEX_CAST_EPSILON (SIMD_EPSILON * 10)
|
|
#else
|
|
#define MAX_CONVEX_CAST_ITERATIONS 32
|
|
#define MAX_CONVEX_CAST_EPSILON btScalar(0.0001)
|
|
#endif
|
|
///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
|
|
///See discussion about this here https://bulletphysics.orgphpBB2/viewtopic.php?t=565
|
|
//will need to digg deeper to make the algorithm more robust
|
|
//since, a large epsilon can cause an early termination with false
|
|
//positive results (ray intersections that shouldn't be there)
|
|
|
|
/// btConvexCast is an interface for Casting
|
|
class btConvexCast
|
|
{
|
|
public:
|
|
virtual ~btConvexCast();
|
|
|
|
///RayResult stores the closest result
|
|
/// alternatively, add a callback method to decide about closest/all results
|
|
struct CastResult
|
|
{
|
|
//virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0;
|
|
|
|
virtual void DebugDraw(btScalar fraction) { (void)fraction; }
|
|
virtual void drawCoordSystem(const btTransform& trans) { (void)trans; }
|
|
virtual void reportFailure(int errNo, int numIterations)
|
|
{
|
|
(void)errNo;
|
|
(void)numIterations;
|
|
}
|
|
CastResult()
|
|
: m_fraction(btScalar(BT_LARGE_FLOAT)),
|
|
m_debugDrawer(0),
|
|
m_allowedPenetration(btScalar(0)),
|
|
m_subSimplexCastMaxIterations(MAX_CONVEX_CAST_ITERATIONS),
|
|
m_subSimplexCastEpsilon(MAX_CONVEX_CAST_EPSILON)
|
|
{
|
|
}
|
|
|
|
virtual ~CastResult(){};
|
|
|
|
btTransform m_hitTransformA;
|
|
btTransform m_hitTransformB;
|
|
btVector3 m_normal;
|
|
btVector3 m_hitPoint;
|
|
btScalar m_fraction; //input and output
|
|
btIDebugDraw* m_debugDrawer;
|
|
btScalar m_allowedPenetration;
|
|
|
|
int m_subSimplexCastMaxIterations;
|
|
btScalar m_subSimplexCastEpsilon;
|
|
|
|
};
|
|
|
|
/// cast a convex against another convex object
|
|
virtual bool calcTimeOfImpact(
|
|
const btTransform& fromA,
|
|
const btTransform& toA,
|
|
const btTransform& fromB,
|
|
const btTransform& toB,
|
|
CastResult& result) = 0;
|
|
};
|
|
|
|
#endif //BT_CONVEX_CAST_H
|