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54 lines
2.5 KiB
C++
54 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 https://bulletphysics.org
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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 BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
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#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
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#include "btConvexCast.h"
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#include "btSimplexSolverInterface.h"
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class btConvexPenetrationDepthSolver;
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class btConvexShape;
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class btStaticPlaneShape;
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/// btContinuousConvexCollision 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 in between 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 btContinuousConvexCollision : public btConvexCast
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{
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btSimplexSolverInterface* m_simplexSolver;
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btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
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const btConvexShape* m_convexA;
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//second object is either a convex or a plane (code sharing)
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const btConvexShape* m_convexB1;
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const btStaticPlaneShape* m_planeShape;
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void computeClosestPoints(const btTransform& transA, const btTransform& transB, struct btPointCollector& pointCollector);
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public:
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btContinuousConvexCollision(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
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btContinuousConvexCollision(const btConvexShape* shapeA, const btStaticPlaneShape* plane);
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virtual bool calcTimeOfImpact(
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const btTransform& fromA,
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const btTransform& toA,
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const btTransform& fromB,
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const btTransform& toB,
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CastResult& result);
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};
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#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
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