forked from bartvdbraak/blender
65 lines
1.7 KiB
C++
65 lines
1.7 KiB
C++
/*
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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 GJK_PAIR_DETECTOR_H
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#define GJK_PAIR_DETECTOR_H
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#include "DiscreteCollisionDetectorInterface.h"
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#include "SimdPoint3.h"
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#include "CollisionMargin.h"
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class ConvexShape;
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#include "SimplexSolverInterface.h"
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class ConvexPenetrationDepthSolver;
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/// GjkPairDetector uses GJK to implement the DiscreteCollisionDetectorInterface
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class GjkPairDetector : public DiscreteCollisionDetectorInterface
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{
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SimdVector3 m_cachedSeparatingAxis;
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ConvexPenetrationDepthSolver* m_penetrationDepthSolver;
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SimplexSolverInterface* m_simplexSolver;
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ConvexShape* m_minkowskiA;
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ConvexShape* m_minkowskiB;
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public:
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GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver);
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virtual ~GjkPairDetector() {};
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virtual void GetClosestPoints(const ClosestPointInput& input,Result& output);
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void SetMinkowskiA(ConvexShape* minkA)
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{
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m_minkowskiA = minkA;
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}
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void SetMinkowskiB(ConvexShape* minkB)
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{
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m_minkowskiB = minkB;
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}
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void SetCachedSeperatingAxis(const SimdVector3& seperatingAxis)
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{
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m_cachedSeparatingAxis = seperatingAxis;
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}
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void SetPenetrationDepthSolver(ConvexPenetrationDepthSolver* penetrationDepthSolver)
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{
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m_penetrationDepthSolver = penetrationDepthSolver;
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}
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};
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#endif //GJK_PAIR_DETECTOR_H
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