btConvexConvexAlgorithm.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
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 BT_CONVEX_CONVEX_ALGORITHM_H
#define BT_CONVEX_CONVEX_ALGORITHM_H
 
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"
#include "LinearMath/btTransformUtil.h"  //for btConvexSeparatingDistanceUtil
#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
 
class btConvexPenetrationDepthSolver;
 
 
//#define USE_SEPDISTANCE_UTIL2 1
 
class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
{
#ifdef USE_SEPDISTANCE_UTIL2
        btConvexSeparatingDistanceUtil m_sepDistance;
#endif
        btConvexPenetrationDepthSolver* m_pdSolver;
 
        btVertexArray worldVertsB1;
        btVertexArray worldVertsB2;
 
        bool m_ownManifold;
        btPersistentManifold* m_manifoldPtr;
        bool m_lowLevelOfDetail;
 
        int m_numPerturbationIterations;
        int m_minimumPointsPerturbationThreshold;
 
 
public:
        btConvexConvexAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
 
        virtual ~btConvexConvexAlgorithm();
 
        virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
        virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 
        virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
        {
                if (m_manifoldPtr && m_ownManifold)
                        manifoldArray.push_back(m_manifoldPtr);
        }
 
        void setLowLevelOfDetail(bool useLowLevel);
 
        const btPersistentManifold* getManifold()
        {
                return m_manifoldPtr;
        }
 
        struct CreateFunc : public btCollisionAlgorithmCreateFunc
        {
                btConvexPenetrationDepthSolver* m_pdSolver;
                int m_numPerturbationIterations;
                int m_minimumPointsPerturbationThreshold;
 
                CreateFunc(btConvexPenetrationDepthSolver* pdSolver);
 
                virtual ~CreateFunc();
 
                virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
                {
                        void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
                        return new (mem) btConvexConvexAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
                }
        };
};
 
#endif  //BT_CONVEX_CONVEX_ALGORITHM_H