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ConvexConvexAlgorithm.h

/*
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 "BroadphaseCollision/CollisionAlgorithm.h"
#include "NarrowPhaseCollision/GjkPairDetector.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"

class ConvexPenetrationDepthSolver;

///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
00028 class ConvexConvexAlgorithm : public CollisionAlgorithm
{
      //ConvexPenetrationDepthSolver*     m_penetrationDepthSolver;
      VoronoiSimplexSolver    m_simplexSolver;
      GjkPairDetector m_gjkPairDetector;
      bool  m_useEpa;
public:
      BroadphaseProxy   m_box0;
      BroadphaseProxy   m_box1;

      bool  m_ownManifold;
      PersistentManifold*     m_manifoldPtr;
      bool              m_lowLevelOfDetail;

      void  CheckPenetrationDepthSolver();

      

public:

      ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);

      virtual ~ConvexConvexAlgorithm();

      virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);

      virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);

      void  SetLowLevelOfDetail(bool useLowLevel);

      

      const PersistentManifold*     GetManifold()
      {
            return m_manifoldPtr;
      }

};

#endif //CONVEX_CONVEX_ALGORITHM_H

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