com.bulletphysics.collision.narrowphase.DiscreteCollisionDetectorInterface Maven / Gradle / Ivy
/*
* Java port of Bullet (c) 2008 Martin Dvorak
*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
*
* This software is provided 'as-is', without any express or implied warranty.
* In no event will the authors be held liable for any damages arising from
* the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 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.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
package com.bulletphysics.collision.narrowphase;
import com.bulletphysics.linearmath.IDebugDraw;
import com.bulletphysics.linearmath.Transform;
import javax.vecmath.Vector3f;
/**
* This interface is made to be used by an iterative approach to do TimeOfImpact calculations.
*
* This interface allows to query for closest points and penetration depth between two (convex) objects
* the closest point is on the second object (B), and the normal points from the surface on B towards A.
* distance is between closest points on B and closest point on A. So you can calculate closest point on A
* by taking closestPointInA = closestPointInB + distance * normalOnSurfaceB.
*
* @author jezek2
*/
public abstract class DiscreteCollisionDetectorInterface {
public static abstract class Result {
///setShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
public abstract void setShapeIdentifiers(int partId0, int index0, int partId1, int index1);
public abstract void addContactPoint(Vector3f normalOnBInWorld, Vector3f pointInWorld, float depth);
}
public static class ClosestPointInput {
public final Transform transformA = new Transform();
public final Transform transformB = new Transform();
public float maximumDistanceSquared;
//btStackAlloc* m_stackAlloc;
public ClosestPointInput() {
init();
}
public void init() {
maximumDistanceSquared = Float.MAX_VALUE;
}
}
/**
* Give either closest points (distance > 0) or penetration (distance)
* the normal always points from B towards A.
*/
public final void getClosestPoints(ClosestPointInput input,Result output, IDebugDraw debugDraw) {
getClosestPoints(input, output, debugDraw, false);
}
/**
* Give either closest points (distance > 0) or penetration (distance)
* the normal always points from B towards A.
*/
public abstract void getClosestPoints(ClosestPointInput input,Result output, IDebugDraw debugDraw, boolean swapResults);
}