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btPointCollector.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 POINT_COLLECTOR_H
00017 #define POINT_COLLECTOR_H
00018 
00019 #include "btDiscreteCollisionDetectorInterface.h"
00020 
00021 
00022 
00023 struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
00024 {
00025        
00026        
00027        btVector3 m_normalOnBInWorld;
00028        btVector3 m_pointInWorld;
00029        btScalar      m_distance;//negative means penetration
00030 
00031        bool   m_hasResult;
00032 
00033        btPointCollector () 
00034               : m_distance(btScalar(1e30)),m_hasResult(false)
00035        {
00036        }
00037 
00038        virtual void setShapeIdentifiers(int partId0,int index0,       int partId1,int index1)
00039        {
00040               (void)partId0;
00041               (void)index0;
00042               (void)partId1;
00043               (void)index1;
00044               //??
00045        }
00046 
00047        virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
00048        {
00049               if (depth< m_distance)
00050               {
00051                      m_hasResult = true;
00052                      m_normalOnBInWorld = normalOnBInWorld;
00053                      m_pointInWorld = pointInWorld;
00054                      //negative means penetration
00055                      m_distance = depth;
00056               }
00057        }
00058 };
00059 
00060 #endif //POINT_COLLECTOR_H
00061