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source: code/branches/SuperOrxoBros_HS18/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h @ 12177

Last change on this file since 12177 was 12177, checked in by siramesh, 5 years ago

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

File size: 4.0 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_CONVEX_2D_CONVEX_2D_ALGORITHM_H
17#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
18
19#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
20#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
21#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
22#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
23#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
24#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
25#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
26#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
27
28class btConvexPenetrationDepthSolver;
29
30
31///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
32///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
33class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
34{
35        btSimplexSolverInterface*               m_simplexSolver;
36        btConvexPenetrationDepthSolver* m_pdSolver;
37
38       
39        bool    m_ownManifold;
40        btPersistentManifold*   m_manifoldPtr;
41        bool                    m_lowLevelOfDetail;
42       
43        int m_numPerturbationIterations;
44        int m_minimumPointsPerturbationThreshold;
45
46public:
47
48        btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
49
50
51        virtual ~btConvex2dConvex2dAlgorithm();
52
53        virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
54
55        virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
56
57        virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
58        {
59                ///should we use m_ownManifold to avoid adding duplicates?
60                if (m_manifoldPtr && m_ownManifold)
61                        manifoldArray.push_back(m_manifoldPtr);
62        }
63
64
65        void    setLowLevelOfDetail(bool useLowLevel);
66
67
68        const btPersistentManifold*     getManifold()
69        {
70                return m_manifoldPtr;
71        }
72
73        struct CreateFunc :public       btCollisionAlgorithmCreateFunc
74        {
75
76                btConvexPenetrationDepthSolver*         m_pdSolver;
77                btSimplexSolverInterface*                       m_simplexSolver;
78                int m_numPerturbationIterations;
79                int m_minimumPointsPerturbationThreshold;
80
81                CreateFunc(btSimplexSolverInterface*                    simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
82               
83                virtual ~CreateFunc();
84
85                virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
86                {
87                        void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
88                        return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
89                }
90        };
91
92
93};
94
95#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
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