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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 BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
- #define BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
- #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
- #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
- #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
- class btPersistentManifold;
- #include "btCollisionDispatcher.h"
- #include "LinearMath/btVector3.h"
- /// btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
- /// Other features are frame-coherency (persistent data) and collision response.
- class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
- {
- bool m_ownManifold;
- btPersistentManifold* m_manifoldPtr;
- bool m_isSwapped;
- int m_numPerturbationIterations;
- int m_minimumPointsPerturbationThreshold;
- public:
- btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
- virtual ~btConvexPlaneCollisionAlgorithm();
- virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
- void collideSingleContact(const btQuaternion& perturbeRot, 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)
- {
- if (m_manifoldPtr && m_ownManifold)
- {
- manifoldArray.push_back(m_manifoldPtr);
- }
- }
- struct CreateFunc : public btCollisionAlgorithmCreateFunc
- {
- int m_numPerturbationIterations;
- int m_minimumPointsPerturbationThreshold;
- CreateFunc()
- : m_numPerturbationIterations(1),
- m_minimumPointsPerturbationThreshold(0)
- {
- }
- virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
- {
- void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
- if (!m_swapped)
- {
- return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
- }
- else
- {
- return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
- }
- }
- };
- };
- #endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
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