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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef GJK_PAIR_DETECTOR_H
#define GJK_PAIR_DETECTOR_H
#include "DiscreteCollisionDetectorInterface.h"
#include "SimdPoint3.h"
#include "CollisionMargin.h"
class ConvexShape;
#include "SimplexSolverInterface.h"
class ConvexPenetrationDepthSolver;
/// GjkPairDetector uses GJK to implement the DiscreteCollisionDetectorInterface
class GjkPairDetector : public DiscreteCollisionDetectorInterface
{
SimdVector3 m_cachedSeparatingAxis;
ConvexPenetrationDepthSolver* m_penetrationDepthSolver;
SimplexSolverInterface* m_simplexSolver;
ConvexShape* m_minkowskiA;
ConvexShape* m_minkowskiB;
public:
GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~GjkPairDetector() {};
virtual void GetClosestPoints(const ClosestPointInput& input,Result& output);
void SetMinkowskiA(ConvexShape* minkA)
{
m_minkowskiA = minkA;
}
void SetMinkowskiB(ConvexShape* minkB)
{
m_minkowskiB = minkB;
}
void SetCachedSeperatingAxis(const SimdVector3& seperatingAxis)
{
m_cachedSeparatingAxis = seperatingAxis;
}
void SetPenetrationDepthSolver(ConvexPenetrationDepthSolver* penetrationDepthSolver)
{
m_penetrationDepthSolver = penetrationDepthSolver;
}
};
#endif //GJK_PAIR_DETECTOR_H
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