mirror of https://github.com/axmolengine/axmol.git
84 lines
4.0 KiB
C++
84 lines
4.0 KiB
C++
/*
|
|
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 BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
|
|
#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
|
|
|
|
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
|
|
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
|
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
|
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
|
#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
|
|
|
|
class btConvexPenetrationDepthSolver;
|
|
|
|
///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
|
|
///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
|
|
class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
|
|
{
|
|
btSimplexSolverInterface* m_simplexSolver;
|
|
btConvexPenetrationDepthSolver* m_pdSolver;
|
|
|
|
bool m_ownManifold;
|
|
btPersistentManifold* m_manifoldPtr;
|
|
bool m_lowLevelOfDetail;
|
|
|
|
public:
|
|
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
|
|
|
|
virtual ~btConvex2dConvex2dAlgorithm();
|
|
|
|
virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
|
|
|
|
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
|
|
|
|
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
|
{
|
|
///should we use m_ownManifold to avoid adding duplicates?
|
|
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, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
|
|
{
|
|
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
|
|
return new (mem) btConvex2dConvex2dAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
|
|
}
|
|
};
|
|
};
|
|
|
|
#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
|