mirror of
https://github.com/bulletphysics/bullet3
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77 lines
2.2 KiB
C++
77 lines
2.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 BU_EDGEEDGE
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#define BU_EDGEEDGE
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class BU_Screwing;
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#include <LinearMath/btTransform.h>
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#include <LinearMath/btPoint3.h>
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#include <LinearMath/btVector3.h>
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//class BUM_Point2;
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#include <LinearMath/btScalar.h>
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///BU_EdgeEdge implements algebraic time of impact calculation between two (angular + linear) moving edges.
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class BU_EdgeEdge
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{
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public:
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BU_EdgeEdge();
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bool GetTimeOfImpact(
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const BU_Screwing& screwAB,
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const btPoint3& a,//edge in object A
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const btVector3& u,
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const btPoint3& c,//edge in object B
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const btVector3& v,
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btScalar &minTime,
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btScalar &lamda,
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btScalar& mu
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);
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private:
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bool Calc2DRotationPointPoint(const btPoint3& rotPt, btScalar rotRadius, btScalar rotW,const btPoint3& intersectPt,btScalar& minTime);
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bool GetTimeOfImpactbteralCase(
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const BU_Screwing& screwAB,
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const btPoint3& a,//edge in object A
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const btVector3& u,
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const btPoint3& c,//edge in object B
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const btVector3& v,
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btScalar &minTime,
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btScalar &lamda,
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btScalar& mu
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);
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bool GetTimeOfImpactVertexEdge(
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const BU_Screwing& screwAB,
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const btPoint3& a,//edge in object A
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const btVector3& u,
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const btPoint3& c,//edge in object B
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const btVector3& v,
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btScalar &minTime,
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btScalar &lamda,
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btScalar& mu
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);
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};
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#endif //BU_EDGEEDGE
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