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btConvexConvexAlgorithm.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 "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"

class btConvexPenetrationDepthSolver;

///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
00030 class btConvexConvexAlgorithm : public btCollisionAlgorithm
{
      btGjkPairDetector m_gjkPairDetector;
public:

      bool  m_ownManifold;
      btPersistentManifold*   m_manifoldPtr;
      bool              m_lowLevelOfDetail;
      

public:

      btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);

      virtual ~btConvexConvexAlgorithm();

      virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

      virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

00050       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;
            
            CreateFunc(btSimplexSolverInterface*                  simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
            
            virtual ~CreateFunc();

            virtual     btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
            {
                  void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
                  return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
            }
      };


};

#endif //CONVEX_CONVEX_ALGORITHM_H

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