2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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16 #ifndef BT_CONVEX_CAST_H
17 #define BT_CONVEX_CAST_H
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btScalar.h"
22 class btMinkowskiSumShape;
23 #include "LinearMath/btIDebugDraw.h"
25 #ifdef BT_USE_DOUBLE_PRECISION
26 #define MAX_CONVEX_CAST_ITERATIONS 64
27 #define MAX_CONVEX_CAST_EPSILON (SIMD_EPSILON * 10)
29 #define MAX_CONVEX_CAST_ITERATIONS 32
30 #define MAX_CONVEX_CAST_EPSILON btScalar(0.0001)
32 ///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
33 ///See discussion about this here https://bulletphysics.orgphpBB2/viewtopic.php?t=565
34 //will need to digg deeper to make the algorithm more robust
35 //since, a large epsilon can cause an early termination with false
36 //positive results (ray intersections that shouldn't be there)
38 /// btConvexCast is an interface for Casting
42 virtual ~btConvexCast();
44 ///RayResult stores the closest result
45 /// alternatively, add a callback method to decide about closest/all results
48 //virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0;
50 virtual void DebugDraw(btScalar fraction) { (void)fraction; }
51 virtual void drawCoordSystem(const btTransform& trans) { (void)trans; }
52 virtual void reportFailure(int errNo, int numIterations)
58 : m_fraction(btScalar(BT_LARGE_FLOAT)),
60 m_allowedPenetration(btScalar(0)),
61 m_subSimplexCastMaxIterations(MAX_CONVEX_CAST_ITERATIONS),
62 m_subSimplexCastEpsilon(MAX_CONVEX_CAST_EPSILON)
66 virtual ~CastResult(){};
68 btTransform m_hitTransformA;
69 btTransform m_hitTransformB;
72 btScalar m_fraction; //input and output
73 btIDebugDraw* m_debugDrawer;
74 btScalar m_allowedPenetration;
76 int m_subSimplexCastMaxIterations;
77 btScalar m_subSimplexCastEpsilon;
81 /// cast a convex against another convex object
82 virtual bool calcTimeOfImpact(
83 const btTransform& fromA,
84 const btTransform& toA,
85 const btTransform& fromB,
86 const btTransform& toB,
87 CastResult& result) = 0;
90 #endif //BT_CONVEX_CAST_H