forked from bartvdbraak/blender
63 lines
2.0 KiB
C
63 lines
2.0 KiB
C
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/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef CONVEX_CONVEX_ALGORITHM_H
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#define CONVEX_CONVEX_ALGORITHM_H
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#include "BroadphaseCollision/CollisionAlgorithm.h"
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#include "NarrowPhaseCollision/GjkPairDetector.h"
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#include "NarrowPhaseCollision/PersistentManifold.h"
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#include "BroadphaseCollision/BroadphaseProxy.h"
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#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
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#include "NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h"
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class ConvexPenetrationDepthSolver;
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///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
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class ConvexConvexAlgorithm : public CollisionAlgorithm
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{
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//hardcoded penetration and simplex solver, its easy to make this flexible later
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MinkowskiPenetrationDepthSolver m_penetrationDepthSolver;
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VoronoiSimplexSolver m_simplexSolver;
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GjkPairDetector m_gjkPairDetector;
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public:
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BroadphaseProxy m_box0;
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BroadphaseProxy m_box1;
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float m_collisionImpulse;
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bool m_ownManifold;
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PersistentManifold* m_manifoldPtr;
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bool m_lowLevelOfDetail;
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public:
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ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
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virtual ~ConvexConvexAlgorithm();
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virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous);
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virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
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void SetLowLevelOfDetail(bool useLowLevel);
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float GetCollisionImpulse() const;
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const PersistentManifold* GetManifold()
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{
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return m_manifoldPtr;
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}
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};
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#endif //CONVEX_CONVEX_ALGORITHM_H
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