btConvexConvexAlgorithm.h

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/*
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 CONVEX_CONVEX_ALGORITHM_H
#define 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

class btConvexPenetrationDepthSolver;


//#define USE_SEPDISTANCE_UTIL2 1

class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
{
#ifdef USE_SEPDISTANCE_UTIL2
    btConvexSeparatingDistanceUtil  m_sepDistance;
#endif
    btSimplexSolverInterface*       m_simplexSolver;
    btConvexPenetrationDepthSolver* m_pdSolver;

    
    bool    m_ownManifold;
    btPersistentManifold*   m_manifoldPtr;
    bool            m_lowLevelOfDetail;
    
    int m_numPerturbationIterations;
    int m_minimumPointsPerturbationThreshold;


    

public:

    btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);


    virtual ~btConvexConvexAlgorithm();

    virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,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;
        btSimplexSolverInterface*           m_simplexSolver;
        int m_numPerturbationIterations;
        int m_minimumPointsPerturbationThreshold;

        CreateFunc(btSimplexSolverInterface*            simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
        
        virtual ~CreateFunc();

        virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
        {
            void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
            return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
        }
    };


};

#endif //CONVEX_CONVEX_ALGORITHM_H