271f458837
Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL, Same for b3InertiaCL -> b3InertiaData
85 lines
1.8 KiB
C++
85 lines
1.8 KiB
C++
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#ifndef B3_GJK_PAIR_DETECTOR_H
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#define B3_GJK_PAIR_DETECTOR_H
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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class b3Transform;
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struct b3GjkEpaSolver2;
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class b3VoronoiSimplexSolver;
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struct b3ConvexPolyhedronData;
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B3_ATTRIBUTE_ALIGNED16(struct) b3GjkPairDetector
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{
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b3Vector3 m_cachedSeparatingAxis;
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b3GjkEpaSolver2* m_penetrationDepthSolver;
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b3VoronoiSimplexSolver* m_simplexSolver;
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bool m_ignoreMargin;
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b3Scalar m_cachedSeparatingDistance;
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public:
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//some debugging to fix degeneracy problems
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int m_lastUsedMethod;
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int m_curIter;
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int m_degenerateSimplex;
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int m_catchDegeneracies;
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int m_fixContactNormalDirection;
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b3GjkPairDetector(b3VoronoiSimplexSolver* simplexSolver,b3GjkEpaSolver2* penetrationDepthSolver);
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virtual ~b3GjkPairDetector() {};
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//void getClosestPoints(,Result& output);
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void setCachedSeperatingAxis(const b3Vector3& seperatingAxis)
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{
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m_cachedSeparatingAxis = seperatingAxis;
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}
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const b3Vector3& getCachedSeparatingAxis() const
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{
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return m_cachedSeparatingAxis;
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}
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b3Scalar getCachedSeparatingDistance() const
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{
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return m_cachedSeparatingDistance;
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}
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void setPenetrationDepthSolver(b3GjkEpaSolver2* penetrationDepthSolver)
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{
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m_penetrationDepthSolver = penetrationDepthSolver;
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}
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///don't use setIgnoreMargin, it's for Bullet's internal use
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void setIgnoreMargin(bool ignoreMargin)
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{
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m_ignoreMargin = ignoreMargin;
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}
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};
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bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA, const b3Transform& transB,
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const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
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const b3AlignedObjectArray<b3Vector3>& verticesA,
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const b3AlignedObjectArray<b3Vector3>& verticesB,
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b3Scalar maximumDistanceSquared,
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b3Vector3& resultSepNormal,
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float& resultSepDistance,
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b3Vector3& resultPointOnB);
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#endif //B3_GJK_PAIR_DETECTOR_H
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