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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 CONVEX_CONVEX_ALGORITHM_H
#define CONVEX_CONVEX_ALGORITHM_H
#include "BroadphaseCollision/CollisionAlgorithm.h"
#include "NarrowPhaseCollision/GjkPairDetector.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
class ConvexPenetrationDepthSolver;
///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
class ConvexConvexAlgorithm : public CollisionAlgorithm
{
ConvexPenetrationDepthSolver* m_penetrationDepthSolver;
VoronoiSimplexSolver m_simplexSolver;
GjkPairDetector m_gjkPairDetector;
bool m_useEpa;
public:
BroadphaseProxy m_box0;
BroadphaseProxy m_box1;
float m_collisionImpulse;
bool m_ownManifold;
PersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
void CheckPenetrationDepthSolver();
public:
ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
virtual ~ConvexConvexAlgorithm();
virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous);
virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
void SetLowLevelOfDetail(bool useLowLevel);
float GetCollisionImpulse() const;
const PersistentManifold* GetManifold()
{
return m_manifoldPtr;
}
};
#endif //CONVEX_CONVEX_ALGORITHM_H
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