Collision Algorithm for GImpact Shapes. More...

#include <btGImpactCollisionAlgorithm.h>

Inheritance diagram for btGImpactCollisionAlgorithm:

Collaboration diagram for btGImpactCollisionAlgorithm:

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Classes
struct	CreateFunc

Protected Member Functions
btPersistentManifold *	newContactManifold (const btCollisionObject body0, const btCollisionObject body1)
	Creates a new contact point. More...

void	destroyConvexAlgorithm ()

void	destroyContactManifolds ()

void	clearCache ()

btPersistentManifold *	getLastManifold ()

void	checkManifold (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap)

btCollisionAlgorithm *	newAlgorithm (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap)

void	checkConvexAlgorithm (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap)

void	addContactPoint (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btVector3 &point, const btVector3 &normal, btScalar distance)

Protected Member Functions inherited from btActivatingCollisionAlgorithm
	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci)

	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap)

Protected Attributes
btCollisionAlgorithm *	m_convex_algorithm

btPersistentManifold *	m_manifoldPtr

btManifoldResult *	m_resultOut

const btDispatcherInfo *	m_dispatchInfo

int	m_triface0

int	m_part0

int	m_triface1

int	m_part1

Protected Attributes inherited from btCollisionAlgorithm
btDispatcher *	m_dispatcher

void	collide_gjk_triangles (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btGImpactMeshShapePart shape0, const btGImpactMeshShapePart shape1, const int *pairs, int pair_count)
	Collision routines. More...

void	collide_sat_triangles (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btGImpactMeshShapePart shape0, const btGImpactMeshShapePart shape1, const int *pairs, int pair_count)

void	shape_vs_shape_collision (const btCollisionObjectWrapper body0, const btCollisionObjectWrapper body1, const btCollisionShape shape0, const btCollisionShape shape1)

void	convex_vs_convex_collision (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btCollisionShape shape0, const btCollisionShape shape1)

void	gimpact_vs_gimpact_find_pairs (const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface shape0, const btGImpactShapeInterface shape1, btPairSet &pairset)

void	gimpact_vs_shape_find_pairs (const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface shape0, const btCollisionShape shape1, btAlignedObjectArray< int > &collided_primitives)

void	gimpacttrimeshpart_vs_plane_collision (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btGImpactMeshShapePart shape0, const btStaticPlaneShape shape1, bool swapped)

	btGImpactCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap)

virtual	~btGImpactCollisionAlgorithm ()

virtual void	processCollision (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)

btScalar	calculateTimeOfImpact (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)

virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)

btManifoldResult *	internalGetResultOut ()

void	gimpact_vs_gimpact (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btGImpactShapeInterface shape0, const btGImpactShapeInterface shape1)
	Collides two gimpact shapes. More...

void	gimpact_vs_shape (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btGImpactShapeInterface shape0, const btCollisionShape shape1, bool swapped)

void	gimpact_vs_compoundshape (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btGImpactShapeInterface shape0, const btCompoundShape shape1, bool swapped)

void	gimpact_vs_concave (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btGImpactShapeInterface shape0, const btConcaveShape shape1, bool swapped)

void	setFace0 (int value)
	Accessor/Mutator pairs for Part and triangleID. More...

int	getFace0 ()

void	setFace1 (int value)

int	getFace1 ()

void	setPart0 (int value)

int	getPart0 ()

void	setPart1 (int value)

int	getPart1 ()

static void	registerAlgorithm (btCollisionDispatcher *dispatcher)
	Use this function for register the algorithm externally. More...

Additional Inherited Members
Public Member Functions inherited from btActivatingCollisionAlgorithm
virtual	~btActivatingCollisionAlgorithm ()

Public Member Functions inherited from btCollisionAlgorithm
	btCollisionAlgorithm ()

	btCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci)

virtual	~btCollisionAlgorithm ()

virtual void	processCollision (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0

virtual btScalar	calculateTimeOfImpact (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0

virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)=0

Detailed Description

Collision Algorithm for GImpact Shapes.

For register this algorithm in Bullet, proceed as following:

btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());

btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);

btCollisionDispatcher

btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.

Definition: btCollisionDispatcher.h:43

btGImpactCollisionAlgorithm::registerAlgorithm

static void registerAlgorithm(btCollisionDispatcher *dispatcher)

Use this function for register the algorithm externally.

Definition: btGImpactCollisionAlgorithm.cpp:851

Definition at line 53 of file btGImpactCollisionAlgorithm.h.

Constructor & Destructor Documentation

◆ btGImpactCollisionAlgorithm()

btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm	(	const btCollisionAlgorithmConstructionInfo &	ci,
		const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap
	)

Definition at line 183 of file btGImpactCollisionAlgorithm.cpp.

◆ ~btGImpactCollisionAlgorithm()

btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm ( )

virtual

Definition at line 190 of file btGImpactCollisionAlgorithm.cpp.

Member Function Documentation

◆ addContactPoint()

void btGImpactCollisionAlgorithm::addContactPoint	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btVector3 &	point,
		const btVector3 &	normal,
		btScalar	distance
	)

protected

Definition at line 195 of file btGImpactCollisionAlgorithm.cpp.

◆ calculateTimeOfImpact()

btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)

virtual

Implements btCollisionAlgorithm.

Definition at line 843 of file btGImpactCollisionAlgorithm.cpp.

◆ checkConvexAlgorithm()

void btGImpactCollisionAlgorithm::checkConvexAlgorithm	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap
	)

inlineprotected

Definition at line 127 of file btGImpactCollisionAlgorithm.h.

◆ checkManifold()

void btGImpactCollisionAlgorithm::checkManifold	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap
	)

inlineprotected

Definition at line 106 of file btGImpactCollisionAlgorithm.h.

◆ clearCache()

void btGImpactCollisionAlgorithm::clearCache ( )

inlineprotected

Definition at line 89 of file btGImpactCollisionAlgorithm.h.

◆ collide_gjk_triangles()

void btGImpactCollisionAlgorithm::collide_gjk_triangles	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btGImpactMeshShapePart *	shape0,
		const btGImpactMeshShapePart *	shape1,
		const int *	pairs,
		int	pair_count
	)

protected

Collision routines.

Definition at line 313 of file btGImpactCollisionAlgorithm.cpp.

◆ collide_sat_triangles()

void btGImpactCollisionAlgorithm::collide_sat_triangles	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btGImpactMeshShapePart *	shape0,
		const btGImpactMeshShapePart *	shape1,
		const int *	pairs,
		int	pair_count
	)

protected

Definition at line 347 of file btGImpactCollisionAlgorithm.cpp.

◆ convex_vs_convex_collision()

void btGImpactCollisionAlgorithm::convex_vs_convex_collision	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btCollisionShape *	shape0,
		const btCollisionShape *	shape1
	)

protected

Definition at line 227 of file btGImpactCollisionAlgorithm.cpp.

◆ destroyContactManifolds()

void btGImpactCollisionAlgorithm::destroyContactManifolds ( )

inlineprotected

Definition at line 82 of file btGImpactCollisionAlgorithm.h.

◆ destroyConvexAlgorithm()

void btGImpactCollisionAlgorithm::destroyConvexAlgorithm ( )

inlineprotected

Definition at line 72 of file btGImpactCollisionAlgorithm.h.

◆ getAllContactManifolds()

virtual void btGImpactCollisionAlgorithm::getAllContactManifolds ( btManifoldArray & manifoldArray )

inlinevirtual

Implements btCollisionAlgorithm.

Definition at line 193 of file btGImpactCollisionAlgorithm.h.

◆ getFace0()

int btGImpactCollisionAlgorithm::getFace0 ( )

inline

Definition at line 254 of file btGImpactCollisionAlgorithm.h.

◆ getFace1()

int btGImpactCollisionAlgorithm::getFace1 ( )

inline

Definition at line 262 of file btGImpactCollisionAlgorithm.h.

◆ getLastManifold()

btPersistentManifold * btGImpactCollisionAlgorithm::getLastManifold ( )

inlineprotected

Definition at line 100 of file btGImpactCollisionAlgorithm.h.

◆ getPart0()

int btGImpactCollisionAlgorithm::getPart0 ( )

inline

Definition at line 270 of file btGImpactCollisionAlgorithm.h.

◆ getPart1()

int btGImpactCollisionAlgorithm::getPart1 ( )

inline

Definition at line 278 of file btGImpactCollisionAlgorithm.h.

◆ gimpact_vs_compoundshape()

void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btGImpactShapeInterface *	shape0,
		const btCompoundShape *	shape1,
		bool	swapped
	)

Definition at line 629 of file btGImpactCollisionAlgorithm.cpp.

◆ gimpact_vs_concave()

void btGImpactCollisionAlgorithm::gimpact_vs_concave	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btGImpactShapeInterface *	shape0,
		const btConcaveShape *	shape1,
		bool	swapped
	)

Definition at line 779 of file btGImpactCollisionAlgorithm.cpp.

◆ gimpact_vs_gimpact()

void btGImpactCollisionAlgorithm::gimpact_vs_gimpact	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btGImpactShapeInterface *	shape0,
		const btGImpactShapeInterface *	shape1
	)

Collides two gimpact shapes.

Precondition: shape0 and shape1 couldn't be btGImpactMeshShape objects

Definition at line 410 of file btGImpactCollisionAlgorithm.cpp.

◆ gimpact_vs_gimpact_find_pairs()

void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs	(	const btTransform &	trans0,
		const btTransform &	trans1,
		const btGImpactShapeInterface *	shape0,
		const btGImpactShapeInterface *	shape1,
		btPairSet &	pairset
	)

protected

Definition at line 242 of file btGImpactCollisionAlgorithm.cpp.

◆ gimpact_vs_shape()

void btGImpactCollisionAlgorithm::gimpact_vs_shape	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btGImpactShapeInterface *	shape0,
		const btCollisionShape *	shape1,
		bool	swapped
	)

Definition at line 510 of file btGImpactCollisionAlgorithm.cpp.

◆ gimpact_vs_shape_find_pairs()

void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs	(	const btTransform &	trans0,
		const btTransform &	trans1,
		const btGImpactShapeInterface *	shape0,
		const btCollisionShape *	shape1,
		btAlignedObjectArray< int > &	collided_primitives
	)

protected

Definition at line 276 of file btGImpactCollisionAlgorithm.cpp.

◆ gimpacttrimeshpart_vs_plane_collision()

void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btGImpactMeshShapePart *	shape0,
		const btStaticPlaneShape *	shape1,
		bool	swapped
	)

protected

Definition at line 670 of file btGImpactCollisionAlgorithm.cpp.

◆ internalGetResultOut()

btManifoldResult * btGImpactCollisionAlgorithm::internalGetResultOut ( )

inline

Definition at line 199 of file btGImpactCollisionAlgorithm.h.

◆ newAlgorithm()

btCollisionAlgorithm * btGImpactCollisionAlgorithm::newAlgorithm	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap
	)

inlineprotected

Definition at line 117 of file btGImpactCollisionAlgorithm.h.

◆ newContactManifold()

btPersistentManifold * btGImpactCollisionAlgorithm::newContactManifold	(	const btCollisionObject *	body0,
		const btCollisionObject *	body1
	)

inlineprotected

Creates a new contact point.

Definition at line 66 of file btGImpactCollisionAlgorithm.h.

◆ processCollision()

void btGImpactCollisionAlgorithm::processCollision	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)

virtual

Implements btCollisionAlgorithm.

Definition at line 805 of file btGImpactCollisionAlgorithm.cpp.

◆ registerAlgorithm()

void btGImpactCollisionAlgorithm::registerAlgorithm ( btCollisionDispatcher * dispatcher )

static

Use this function for register the algorithm externally.

Definition at line 851 of file btGImpactCollisionAlgorithm.cpp.

◆ setFace0()

void btGImpactCollisionAlgorithm::setFace0 ( int value )

inline

Accessor/Mutator pairs for Part and triangleID.

Definition at line 250 of file btGImpactCollisionAlgorithm.h.

◆ setFace1()

void btGImpactCollisionAlgorithm::setFace1 ( int value )

inline

Definition at line 258 of file btGImpactCollisionAlgorithm.h.

◆ setPart0()

void btGImpactCollisionAlgorithm::setPart0 ( int value )

inline

Definition at line 266 of file btGImpactCollisionAlgorithm.h.

◆ setPart1()

void btGImpactCollisionAlgorithm::setPart1 ( int value )

inline

Definition at line 274 of file btGImpactCollisionAlgorithm.h.

◆ shape_vs_shape_collision()

void btGImpactCollisionAlgorithm::shape_vs_shape_collision	(	const btCollisionObjectWrapper *	body0,
		const btCollisionObjectWrapper *	body1,
		const btCollisionShape *	shape0,
		const btCollisionShape *	shape1
	)

protected

Definition at line 207 of file btGImpactCollisionAlgorithm.cpp.

Member Data Documentation

◆ m_convex_algorithm

btCollisionAlgorithm* btGImpactCollisionAlgorithm::m_convex_algorithm

protected

Definition at line 56 of file btGImpactCollisionAlgorithm.h.

◆ m_dispatchInfo

const btDispatcherInfo* btGImpactCollisionAlgorithm::m_dispatchInfo

protected

Definition at line 59 of file btGImpactCollisionAlgorithm.h.

◆ m_manifoldPtr

btPersistentManifold* btGImpactCollisionAlgorithm::m_manifoldPtr

protected

Definition at line 57 of file btGImpactCollisionAlgorithm.h.

◆ m_part0

int btGImpactCollisionAlgorithm::m_part0

protected

Definition at line 61 of file btGImpactCollisionAlgorithm.h.

◆ m_part1

int btGImpactCollisionAlgorithm::m_part1

protected

Definition at line 63 of file btGImpactCollisionAlgorithm.h.

◆ m_resultOut

btManifoldResult* btGImpactCollisionAlgorithm::m_resultOut

protected

Definition at line 58 of file btGImpactCollisionAlgorithm.h.

◆ m_triface0

int btGImpactCollisionAlgorithm::m_triface0

protected

Definition at line 60 of file btGImpactCollisionAlgorithm.h.

◆ m_triface1

int btGImpactCollisionAlgorithm::m_triface1

protected

Definition at line 62 of file btGImpactCollisionAlgorithm.h.

The documentation for this class was generated from the following files:

Classes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btGImpactCollisionAlgorithm()

◆ ~btGImpactCollisionAlgorithm()

Member Function Documentation

◆ addContactPoint()

◆ calculateTimeOfImpact()

◆ checkConvexAlgorithm()

◆ checkManifold()

◆ clearCache()

◆ collide_gjk_triangles()

◆ collide_sat_triangles()

◆ convex_vs_convex_collision()

◆ destroyContactManifolds()

◆ destroyConvexAlgorithm()

◆ getAllContactManifolds()

◆ getFace0()

◆ getFace1()

◆ getLastManifold()

◆ getPart0()

◆ getPart1()

◆ gimpact_vs_compoundshape()

◆ gimpact_vs_concave()

◆ gimpact_vs_gimpact()

◆ gimpact_vs_gimpact_find_pairs()

◆ gimpact_vs_shape()

◆ gimpact_vs_shape_find_pairs()

◆ gimpacttrimeshpart_vs_plane_collision()

◆ internalGetResultOut()

◆ newAlgorithm()

◆ newContactManifold()

◆ processCollision()

◆ registerAlgorithm()

◆ setFace0()

◆ setFace1()

◆ setPart0()

◆ setPart1()

◆ shape_vs_shape_collision()

Member Data Documentation

◆ m_convex_algorithm

◆ m_dispatchInfo

◆ m_manifoldPtr

◆ m_part0

◆ m_part1

◆ m_resultOut

◆ m_triface0

◆ m_triface1