| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| 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. |
| */ |
| |
| #ifndef POINT_COLLECTOR_H |
| #define POINT_COLLECTOR_H |
| |
| #include "btDiscreteCollisionDetectorInterface.h" |
| |
| |
| |
| struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result |
| { |
| |
| |
| btVector3 m_normalOnBInWorld; |
| btVector3 m_pointInWorld; |
| btScalar m_distance;//negative means penetration |
| |
| bool m_hasResult; |
| |
| btPointCollector () |
| : m_distance(btScalar(BT_LARGE_FLOAT)),m_hasResult(false) |
| { |
| } |
| |
| virtual void setShapeIdentifiersA(int partId0,int index0) |
| { |
| (void)partId0; |
| (void)index0; |
| |
| } |
| virtual void setShapeIdentifiersB(int partId1,int index1) |
| { |
| (void)partId1; |
| (void)index1; |
| } |
| |
| virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) |
| { |
| if (depth< m_distance) |
| { |
| m_hasResult = true; |
| m_normalOnBInWorld = normalOnBInWorld; |
| m_pointInWorld = pointInWorld; |
| //negative means penetration |
| m_distance = depth; |
| } |
| } |
| }; |
| |
| #endif //POINT_COLLECTOR_H |
| |