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source: code/branches/SuperOrxoBros_HS18/SuperOrxoBros_HS18/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h @ 12175

Last change on this file since 12175 was 12175, checked in by siramesh, 5 years ago

Super Orxo Bros (Sidharth Ramesh, Nisa Balta, Jeff Ren)

File size: 2.0 KB
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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#ifndef BT_SPHERE_TRIANGLE_DETECTOR_H
17#define BT_SPHERE_TRIANGLE_DETECTOR_H
18
19#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
20
21
22
23class btSphereShape;
24class btTriangleShape;
25
26
27
28/// sphere-triangle to match the btDiscreteCollisionDetectorInterface
29struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
30{
31        virtual void    getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
32
33        SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold);
34
35        virtual ~SphereTriangleDetector() {};
36
37        bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold);
38
39private:
40
41       
42        bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
43        bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
44
45        btSphereShape* m_sphere;
46        btTriangleShape* m_triangle;
47        btScalar        m_contactBreakingThreshold;
48       
49};
50#endif //BT_SPHERE_TRIANGLE_DETECTOR_H
51
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