btBox2dBox2dCollisionAlgorithm.cpp File Reference

#include "btBox2dBox2dCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
#include "BulletCollision/CollisionShapes/btBox2dShape.h"

Go to the source code of this file.

Classes
struct	ClipVertex
Defines
#define	USE_PERSISTENT_CONTACTS   1
#define	b2Dot(a, b)   (a).dot(b)
#define	b2Mul(a, b)   (a)*(b)
#define	b2MulT(a, b)   (a).transpose()*(b)
#define	b2Cross(a, b)   (a).cross(b)
#define	btCrossS(a, s)   btVector3(s * a.getY(), -s * a.getX(),0.f)
Functions
void	b2CollidePolygons (btManifoldResult *manifold, const btBox2dShape *polyA, const btTransform &xfA, const btBox2dShape *polyB, const btTransform &xfB)
static int	ClipSegmentToLine (ClipVertex vOut[2], ClipVertex vIn[2], const btVector3 &normal, btScalar offset)
static btScalar	EdgeSeparation (const btBox2dShape *poly1, const btTransform &xf1, int edge1, const btBox2dShape *poly2, const btTransform &xf2)
static btScalar	FindMaxSeparation (int *edgeIndex, const btBox2dShape *poly1, const btTransform &xf1, const btBox2dShape *poly2, const btTransform &xf2)
static void	FindIncidentEdge (ClipVertex c[2], const btBox2dShape *poly1, const btTransform &xf1, int edge1, const btBox2dShape *poly2, const btTransform &xf2)
Variables
int	b2_maxManifoldPoints = 2

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Define Documentation

#define b2Cross	(		a,
			b
	)		(a).cross(b)

Definition at line 95 of file btBox2dBox2dCollisionAlgorithm.cpp.

#define b2Dot	(		a,
			b
	)		(a).dot(b)

Definition at line 92 of file btBox2dBox2dCollisionAlgorithm.cpp.

Referenced by b2CollidePolygons(), ClipSegmentToLine(), EdgeSeparation(), FindIncidentEdge(), and FindMaxSeparation().

#define b2Mul	(		a,
			b
	)		(a)*(b)

Definition at line 93 of file btBox2dBox2dCollisionAlgorithm.cpp.

Referenced by b2CollidePolygons(), EdgeSeparation(), FindIncidentEdge(), and FindMaxSeparation().

#define b2MulT	(		a,
			b
	)		(a).transpose()*(b)

Definition at line 94 of file btBox2dBox2dCollisionAlgorithm.cpp.

Referenced by EdgeSeparation(), FindIncidentEdge(), and FindMaxSeparation().

#define btCrossS	(		a,
			s
	)		btVector3(s * a.getY(), -s * a.getX(),0.f)

Definition at line 96 of file btBox2dBox2dCollisionAlgorithm.cpp.

Referenced by b2CollidePolygons().

#define USE_PERSISTENT_CONTACTS   1

btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library. The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross

Definition at line 26 of file btBox2dBox2dCollisionAlgorithm.cpp.

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Function Documentation

void b2CollidePolygons	(	btManifoldResult *	manifold,
		const btBox2dShape *	polyA,
		const btTransform &	xfA,
		const btBox2dShape *	polyB,
		const btTransform &	xfB
	)

Definition at line 319 of file btBox2dBox2dCollisionAlgorithm.cpp.

References btManifoldResult::addContactPoint(), b2_maxManifoldPoints, b2Dot, b2Mul, btCrossS, ClipSegmentToLine(), FindIncidentEdge(), FindMaxSeparation(), btTransform::getBasis(), btBox2dShape::getVertexCount(), btBox2dShape::getVertices(), i, and ClipVertex::v.

Referenced by btBox2dBox2dCollisionAlgorithm::processCollision().

static int ClipSegmentToLine	(	ClipVertex	vOut[2],
		ClipVertex	vIn[2],
		const btVector3 &	normal,
		btScalar	offset
	)		[static]

Definition at line 100 of file btBox2dBox2dCollisionAlgorithm.cpp.

References b2Dot, ClipVertex::id, interp(), and ClipVertex::v.

Referenced by b2CollidePolygons().

static btScalar EdgeSeparation	(	const btBox2dShape *	poly1,
		const btTransform &	xf1,
		int	edge1,
		const btBox2dShape *	poly2,
		const btTransform &	xf2
	)		[static]

Definition at line 135 of file btBox2dBox2dCollisionAlgorithm.cpp.

References b2Dot, b2Mul, b2MulT, BT_LARGE_FLOAT, btAssert, dot(), btTransform::getBasis(), btBox2dShape::getNormals(), btBox2dShape::getVertexCount(), btBox2dShape::getVertices(), and i.

Referenced by FindMaxSeparation().

static void FindIncidentEdge	(	ClipVertex	c[2],
		const btBox2dShape *	poly1,
		const btTransform &	xf1,
		int	edge1,
		const btBox2dShape *	poly2,
		const btTransform &	xf2
	)		[static]

Definition at line 269 of file btBox2dBox2dCollisionAlgorithm.cpp.

References b2Dot, b2Mul, b2MulT, BT_LARGE_FLOAT, btAssert, dot(), btTransform::getBasis(), btBox2dShape::getNormals(), btBox2dShape::getVertexCount(), btBox2dShape::getVertices(), i, and ClipVertex::v.

Referenced by b2CollidePolygons().

static btScalar FindMaxSeparation	(	int *	edgeIndex,
		const btBox2dShape *	poly1,
		const btTransform &	xf1,
		const btBox2dShape *	poly2,
		const btTransform &	xf2
	)		[static]

Definition at line 171 of file btBox2dBox2dCollisionAlgorithm.cpp.

References b2Dot, b2Mul, b2MulT, BT_LARGE_FLOAT, simple_enum_gen::d, dot(), EdgeSeparation(), btTransform::getBasis(), btBox2dShape::getCentroid(), btBox2dShape::getNormals(), btBox2dShape::getVertexCount(), and i.

Referenced by b2CollidePolygons().

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Variable Documentation

int b2_maxManifoldPoints = 2

Definition at line 98 of file btBox2dBox2dCollisionAlgorithm.cpp.

Referenced by b2CollidePolygons().