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SphereTriangleDetector.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef SPHERE_TRIANGLE_DETECTOR_H
00017 #define SPHERE_TRIANGLE_DETECTOR_H
00018 
00019 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
00020 #include "LinearMath/btPoint3.h"
00021 
00022 
00023 class btSphereShape;
00024 class btTriangleShape;
00025 
00026 
00027 
00029 struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
00030 {
00031        virtual void  getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
00032 
00033        SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
00034 
00035        virtual ~SphereTriangleDetector() {};
00036 
00037 private:
00038 
00039        bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact);
00040        bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
00041        bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
00042 
00043        btSphereShape* m_sphere;
00044        btTriangleShape* m_triangle;
00045 
00046        
00047 };
00048 #endif //SPHERE_TRIANGLE_DETECTOR_H
00049