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