forked from bartvdbraak/blender
af9573e9ea
- Changed license from MIT to ZLib. - Added 3D Sweep and Prune contribution - More stable native constraint solver Sorry for any inconvenience caused by this checkin. All Blender buildsystems require update: added files and moved files.
53 lines
2.1 KiB
C++
53 lines
2.1 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 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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