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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 CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#include "BroadphaseCollision/CollisionAlgorithm.h"
#include "BroadphaseCollision/CollisionDispatcher.h"
#include "BroadphaseCollision/BroadphaseInterface.h"
#include "CollisionShapes/TriangleCallback.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
class Dispatcher;
#include "BroadphaseCollision/BroadphaseProxy.h"
class BoxTriangleCallback : public TriangleCallback
{
BroadphaseProxy* m_boxProxy;
BroadphaseProxy m_triangleProxy;
SimdVector3 m_aabbMin;
SimdVector3 m_aabbMax ;
Dispatcher* m_dispatcher;
float m_timeStep;
int m_stepCount;
bool m_useContinuous;
public:
PersistentManifold* m_manifoldPtr;
BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
void SetTimeStepAndCounters(float timeStep,int stepCount, bool useContinuous);
virtual ~BoxTriangleCallback();
virtual void ProcessTriangle(SimdVector3* triangle);
void ClearCache();
inline const SimdVector3& GetAabbMin() const
{
return m_aabbMin;
}
inline const SimdVector3& GetAabbMax() const
{
return m_aabbMax;
}
};
/// ConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.
class ConvexConcaveCollisionAlgorithm : public CollisionAlgorithm
{
BroadphaseProxy m_convex;
BroadphaseProxy m_concave;
BoxTriangleCallback m_boxTriangleCallback;
public:
ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
virtual ~ConvexConcaveCollisionAlgorithm();
virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous);
float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
void ClearCache();
};
#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H
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