2020-11-16 14:47:43 +08:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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2021-12-20 18:52:45 +08:00
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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2020-11-16 14:47:43 +08:00
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
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#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
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#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
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class btConvexPenetrationDepthSolver;
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///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
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///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
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class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
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{
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btSimplexSolverInterface* m_simplexSolver;
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btConvexPenetrationDepthSolver* m_pdSolver;
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bool m_ownManifold;
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btPersistentManifold* m_manifoldPtr;
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bool m_lowLevelOfDetail;
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public:
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btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
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virtual ~btConvex2dConvex2dAlgorithm();
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virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
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{
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///should we use m_ownManifold to avoid adding duplicates?
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if (m_manifoldPtr && m_ownManifold)
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manifoldArray.push_back(m_manifoldPtr);
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}
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void setLowLevelOfDetail(bool useLowLevel);
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const btPersistentManifold* getManifold()
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{
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return m_manifoldPtr;
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}
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struct CreateFunc : public btCollisionAlgorithmCreateFunc
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{
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btConvexPenetrationDepthSolver* m_pdSolver;
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btSimplexSolverInterface* m_simplexSolver;
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int m_numPerturbationIterations;
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int m_minimumPointsPerturbationThreshold;
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CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
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virtual ~CreateFunc();
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
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return new (mem) btConvex2dConvex2dAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
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}
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};
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};
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#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
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