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https://github.com/bulletphysics/bullet3
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85 lines
2.5 KiB
C++
85 lines
2.5 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 GJK_PAIR_DETECTOR_H
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#define GJK_PAIR_DETECTOR_H
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#include "DiscreteCollisionDetectorInterface.h"
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#include "SimdPoint3.h"
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#include <CollisionShapes/CollisionMargin.h>
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class ConvexShape;
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#include "SimplexSolverInterface.h"
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class ConvexPenetrationDepthSolver;
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/// GjkPairDetector uses GJK to implement the DiscreteCollisionDetectorInterface
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class GjkPairDetector : public DiscreteCollisionDetectorInterface
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{
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SimdVector3 m_cachedSeparatingAxis;
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ConvexPenetrationDepthSolver* m_penetrationDepthSolver;
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SimplexSolverInterface* m_simplexSolver;
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ConvexShape* m_minkowskiA;
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ConvexShape* m_minkowskiB;
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bool m_ignoreMargin;
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public:
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//experimental feature information, per triangle, per convex etc.
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//'material combiner' / contact added callback
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int m_partId0;
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int m_index0;
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int m_partId1;
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int m_index1;
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GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver);
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virtual ~GjkPairDetector() {};
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virtual void GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw);
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void SetMinkowskiA(ConvexShape* minkA)
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{
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m_minkowskiA = minkA;
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}
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void SetMinkowskiB(ConvexShape* minkB)
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{
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m_minkowskiB = minkB;
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}
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void SetCachedSeperatingAxis(const SimdVector3& seperatingAxis)
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{
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m_cachedSeparatingAxis = seperatingAxis;
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}
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void SetPenetrationDepthSolver(ConvexPenetrationDepthSolver* penetrationDepthSolver)
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{
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m_penetrationDepthSolver = penetrationDepthSolver;
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}
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void SetIgnoreMargin(bool ignoreMargin)
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{
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m_ignoreMargin = ignoreMargin;
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}
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};
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#endif //GJK_PAIR_DETECTOR_H
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