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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* 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 PERSISTENT_MANIFOLD_H
#define PERSISTENT_MANIFOLD_H
#include "SimdVector3.h"
#include "SimdTransform.h"
#include "ManifoldPoint.h"
struct CollisionResult;
///contact breaking and merging treshold
extern float gContactBreakingTreshold;
#define MANIFOLD_CACHE_SIZE 4
///PersistentManifold maintains contact points, and reduces them to 4
class PersistentManifold
{
ManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
/// this two body pointers can point to the physics rigidbody class.
/// void* will allow any rigidbody class
void* m_body0;
void* m_body1;
int m_cachedPoints;
/// sort cached points so most isolated points come first
int SortCachedPoints(const ManifoldPoint& pt);
int FindContactPoint(const ManifoldPoint* unUsed, int numUnused,const ManifoldPoint& pt);
public:
int m_index1;
PersistentManifold();
PersistentManifold(void* body0,void* body1)
: m_body0(body0),m_body1(body1),m_cachedPoints(0)
{
}
inline void* GetBody0() { return m_body0;}
inline void* GetBody1() { return m_body1;}
inline const void* GetBody0() const { return m_body0;}
inline const void* GetBody1() const { return m_body1;}
void SetBodies(void* body0,void* body1)
{
m_body0 = body0;
m_body1 = body1;
}
inline int GetNumContacts() const { return m_cachedPoints;}
inline const ManifoldPoint& GetContactPoint(int index) const
{
ASSERT(index < m_cachedPoints);
return m_pointCache[index];
}
inline ManifoldPoint& GetContactPoint(int index)
{
ASSERT(index < m_cachedPoints);
return m_pointCache[index];
}
/// todo: get this margin from the current physics / collision environment
float GetManifoldMargin() const;
int GetCacheEntry(const ManifoldPoint& newPoint) const;
void AddManifoldPoint( const ManifoldPoint& newPoint);
void RemoveContactPoint (int index)
{
m_pointCache[index] = m_pointCache[GetNumContacts() - 1];
m_cachedPoints--;
}
void ReplaceContactPoint(const ManifoldPoint& newPoint,int insertIndex)
{
assert(ValidContactDistance(newPoint));
m_pointCache[insertIndex] = newPoint;
}
bool ValidContactDistance(const ManifoldPoint& pt) const
{
return pt.m_distance1 < GetManifoldMargin();
}
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
void RefreshContactPoints( const SimdTransform& trA,const SimdTransform& trB);
void ClearManifold();
float GetCollisionImpulse() const;
};
#endif //PERSISTENT_MANIFOLD_H
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