forked from bartvdbraak/blender
281f236e6e
- on Ton's request use double versions of cos,sin,tan, sqrt etc. just like Solid in MT_Scalar #if defined (__sun) || defined (__sun__) || defined (__sparc) || defined (__APPLE__) - updated an url in the header of files
46 lines
1.6 KiB
C++
46 lines
1.6 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef CONTINUOUS_COLLISION_CONVEX_CAST_H
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#define CONTINUOUS_COLLISION_CONVEX_CAST_H
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#include "ConvexCast.h"
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#include "SimplexSolverInterface.h"
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class ConvexPenetrationDepthSolver;
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class ConvexShape;
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/// ContinuousConvexCollision implements angular and linear time of impact for convex objects.
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/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
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/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent.
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/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
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class ContinuousConvexCollision : public ConvexCast
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{
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SimplexSolverInterface* m_simplexSolver;
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ConvexPenetrationDepthSolver* m_penetrationDepthSolver;
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ConvexShape* m_convexA;
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ConvexShape* m_convexB;
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public:
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ContinuousConvexCollision (ConvexShape* shapeA,ConvexShape* shapeB ,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver);
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virtual bool calcTimeOfImpact(
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const SimdTransform& fromA,
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const SimdTransform& toA,
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const SimdTransform& fromB,
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const SimdTransform& toB,
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CastResult& result);
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};
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#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H
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