Bullet Collision Detection & Physics Library
btConvexCast.h
Go to the documentation of this file.
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17#ifndef BT_CONVEX_CAST_H
18#define BT_CONVEX_CAST_H
19
22#include "LinearMath/btScalar.h"
25
28{
29public:
30
31
32 virtual ~btConvexCast();
33
37 {
38 //virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0;
39
40 virtual void DebugDraw(btScalar fraction) {(void)fraction;}
41 virtual void drawCoordSystem(const btTransform& trans) {(void)trans;}
42 virtual void reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;}
47 {
48 }
49
50
51 virtual ~CastResult() {};
52
57 btScalar m_fraction; //input and output
60
61 };
62
63
65 virtual bool calcTimeOfImpact(
66 const btTransform& fromA,
67 const btTransform& toA,
68 const btTransform& fromB,
69 const btTransform& toB,
70 CastResult& result) = 0;
71};
72
73#endif //BT_CONVEX_CAST_H
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define BT_LARGE_FLOAT
Definition: btScalar.h:294
btConvexCast is an interface for Casting
Definition: btConvexCast.h:28
virtual ~btConvexCast()
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)=0
cast a convex against another convex object
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:30
The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski su...
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:37
btIDebugDraw * m_debugDrawer
Definition: btConvexCast.h:58
btTransform m_hitTransformA
Definition: btConvexCast.h:51
virtual void reportFailure(int errNo, int numIterations)
Definition: btConvexCast.h:42
btTransform m_hitTransformB
Definition: btConvexCast.h:54
virtual void drawCoordSystem(const btTransform &trans)
Definition: btConvexCast.h:41
virtual void DebugDraw(btScalar fraction)
Definition: btConvexCast.h:40