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source: code/branches/SuperOrxoBros_HS18/SuperOrxoBros_HS18/src/external/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h @ 12175

Last change on this file since 12175 was 12175, checked in by siramesh, 5 years ago

Super Orxo Bros (Sidharth Ramesh, Nisa Balta, Jeff Ren)

File size: 3.2 KB
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_SPHERE_BOX_COLLISION_ALGORITHM_H
17#define BT_SPHERE_BOX_COLLISION_ALGORITHM_H
18
19#include "btActivatingCollisionAlgorithm.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
22class btPersistentManifold;
23#include "btCollisionDispatcher.h"
24
25#include "LinearMath/btVector3.h"
26
27/// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
28/// Other features are frame-coherency (persistent data) and collision response.
29class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
30{
31        bool    m_ownManifold;
32        btPersistentManifold*   m_manifoldPtr;
33        bool    m_isSwapped;
34       
35public:
36
37        btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
38
39        virtual ~btSphereBoxCollisionAlgorithm();
40
41        virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
42
43        virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
44
45        virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
46        {
47                if (m_manifoldPtr && m_ownManifold)
48                {
49                        manifoldArray.push_back(m_manifoldPtr);
50                }
51        }
52
53        btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
54
55        btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
56       
57        struct CreateFunc :public       btCollisionAlgorithmCreateFunc
58        {
59                virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
60                {
61                        void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
62                        if (!m_swapped)
63                        {
64                                return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
65                        } else
66                        {
67                                return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
68                        }
69                }
70        };
71
72};
73
74#endif //BT_SPHERE_BOX_COLLISION_ALGORITHM_H
75
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