| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef CONVEX_2D_CONVEX_2D_ALGORITHM_H |
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| 17 | #define CONVEX_2D_CONVEX_2D_ALGORITHM_H |
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| 18 | |
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| 19 | #include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" |
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| 20 | #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" |
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| 21 | #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" |
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| 22 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
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| 23 | #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" |
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| 24 | #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" |
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| 25 | #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" |
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| 26 | #include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil |
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| 27 | |
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| 28 | class btConvexPenetrationDepthSolver; |
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| 29 | |
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| 30 | |
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| 31 | ///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape |
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| 32 | ///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation |
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| 33 | class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm |
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| 34 | { |
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| 35 | btSimplexSolverInterface* m_simplexSolver; |
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| 36 | btConvexPenetrationDepthSolver* m_pdSolver; |
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| 37 | |
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| 38 | |
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| 39 | bool m_ownManifold; |
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| 40 | btPersistentManifold* m_manifoldPtr; |
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| 41 | bool m_lowLevelOfDetail; |
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| 42 | |
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| 43 | int m_numPerturbationIterations; |
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| 44 | int m_minimumPointsPerturbationThreshold; |
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| 45 | |
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| 46 | public: |
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| 47 | |
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| 48 | btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); |
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| 49 | |
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| 50 | |
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| 51 | virtual ~btConvex2dConvex2dAlgorithm(); |
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| 52 | |
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| 53 | virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
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| 54 | |
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| 55 | virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
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| 56 | |
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| 57 | virtual void getAllContactManifolds(btManifoldArray& manifoldArray) |
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| 58 | { |
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| 59 | ///should we use m_ownManifold to avoid adding duplicates? |
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| 60 | if (m_manifoldPtr && m_ownManifold) |
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| 61 | manifoldArray.push_back(m_manifoldPtr); |
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| 62 | } |
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| 63 | |
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| 64 | |
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| 65 | void setLowLevelOfDetail(bool useLowLevel); |
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| 66 | |
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| 67 | |
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| 68 | const btPersistentManifold* getManifold() |
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| 69 | { |
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| 70 | return m_manifoldPtr; |
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| 71 | } |
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| 72 | |
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| 73 | struct CreateFunc :public btCollisionAlgorithmCreateFunc |
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| 74 | { |
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| 75 | |
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| 76 | btConvexPenetrationDepthSolver* m_pdSolver; |
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| 77 | btSimplexSolverInterface* m_simplexSolver; |
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| 78 | int m_numPerturbationIterations; |
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| 79 | int m_minimumPointsPerturbationThreshold; |
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| 80 | |
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| 81 | CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); |
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| 82 | |
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| 83 | virtual ~CreateFunc(); |
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| 84 | |
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| 85 | virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) |
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| 86 | { |
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| 87 | void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm)); |
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| 88 | return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); |
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| 89 | } |
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| 90 | }; |
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| 91 | |
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| 92 | |
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| 93 | }; |
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| 94 | |
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| 95 | #endif //CONVEX_2D_CONVEX_2D_ALGORITHM_H |
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