Differential D1739 Diff 5899 extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h
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extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h
- This file was copied from extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h.
| /* | /* | ||||
| Bullet Continuous Collision Detection and Physics Library | Bullet Continuous Collision Detection and Physics Library | ||||
| Copyright (c) 2013 Erwin Coumans http://bulletphysics.org | Copyright (c) 2003-2014 Erwin Coumans http://bulletphysics.org | ||||
| This software is provided 'as-is', without any express or implied warranty. | 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. | 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, | Permission is granted to anyone to use this software for any purpose, | ||||
| including commercial applications, and to alter it and redistribute it freely, | including commercial applications, and to alter it and redistribute it freely, | ||||
| subject to the following restrictions: | 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. | 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. | 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. | 3. This notice may not be removed or altered from any source distribution. | ||||
| */ | */ | ||||
| #ifndef BT_FIXED_CONSTRAINT_H | |||||
| #define BT_FIXED_CONSTRAINT_H | |||||
| #include "btTypedConstraint.h" | #ifndef GJK_COLLISION_DESCRIPTION_H | ||||
| #define GJK_COLLISION_DESCRIPTION_H | |||||
| ATTRIBUTE_ALIGNED16(class) btFixedConstraint : public btTypedConstraint | #include "LinearMath/btVector3.h" | ||||
| { | |||||
| btTransform m_frameInA; | |||||
| btTransform m_frameInB; | |||||
| public: | |||||
| btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB); | |||||
| virtual ~btFixedConstraint(); | |||||
| virtual void getInfo1 (btConstraintInfo1* info); | |||||
| virtual void getInfo2 (btConstraintInfo2* info); | struct btGjkCollisionDescription | ||||
| { | |||||
| virtual void setParam(int num, btScalar value, int axis = -1) | btVector3 m_firstDir; | ||||
| int m_maxGjkIterations; | |||||
| btScalar m_maximumDistanceSquared; | |||||
| btScalar m_gjkRelError2; | |||||
| btGjkCollisionDescription() | |||||
| :m_firstDir(0,1,0), | |||||
| m_maxGjkIterations(1000), | |||||
| m_maximumDistanceSquared(1e30f), | |||||
| m_gjkRelError2(1.0e-6) | |||||
| { | { | ||||
| btAssert(0); | |||||
| } | } | ||||
| virtual btScalar getParam(int num, int axis = -1) const | virtual ~btGjkCollisionDescription() | ||||
| { | { | ||||
| btAssert(0); | |||||
| return 0.f; | |||||
| } | } | ||||
| }; | }; | ||||
| #endif //BT_FIXED_CONSTRAINT_H | #endif //GJK_COLLISION_DESCRIPTION_H | ||||