43 lines
2 KiB
C++
43 lines
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_SPHERE_TRIANGLE_DETECTOR_H
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#define BT_SPHERE_TRIANGLE_DETECTOR_H
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#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
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class btSphereShape;
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class btTriangleShape;
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/// sphere-triangle to match the btDiscreteCollisionDetectorInterface
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struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
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{
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virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
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SphereTriangleDetector(btSphereShape* sphere, btTriangleShape* triangle, btScalar contactBreakingThreshold);
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virtual ~SphereTriangleDetector(){};
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bool collide(const btVector3& sphereCenter, btVector3& point, btVector3& resultNormal, btScalar& depth, btScalar& timeOfImpact, btScalar contactBreakingThreshold);
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private:
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bool pointInTriangle(const btVector3 vertices[], const btVector3& normal, btVector3* p);
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bool facecontains(const btVector3& p, const btVector3* vertices, btVector3& normal);
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btSphereShape* m_sphere;
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btTriangleShape* m_triangle;
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btScalar m_contactBreakingThreshold;
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};
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#endif //BT_SPHERE_TRIANGLE_DETECTOR_H
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