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https://github.com/bulletphysics/bullet3
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58 lines
1.7 KiB
C
58 lines
1.7 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 POINT_COLLECTOR_H
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#define POINT_COLLECTOR_H
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#include "DiscreteCollisionDetectorInterface.h"
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struct PointCollector : public DiscreteCollisionDetectorInterface::Result
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{
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SimdVector3 m_normalOnBInWorld;
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SimdVector3 m_pointInWorld;
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SimdScalar m_distance;//negative means penetration
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bool m_hasResult;
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PointCollector ()
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: m_distance(1e30f),m_hasResult(false)
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{
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}
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virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
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{
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//??
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}
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virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float 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 //POINT_COLLECTOR_H
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