1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef CONVEX_PLANE_COLLISION_ALGORITHM_H
17 #define CONVEX_PLANE_COLLISION_ALGORITHM_H
18 
19 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
22 class btPersistentManifold;
23 #include "btCollisionDispatcher.h"
24 
25 #include "LinearMath/btVector3.h"
26 
27 /// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
28 /// Other features are frame-coherency (persistent data) and collision response.
29 class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
30 {
31 	bool		m_ownManifold;
32 	btPersistentManifold*	m_manifoldPtr;
33 	bool		m_isSwapped;
34 	int			m_numPerturbationIterations;
35 	int			m_minimumPointsPerturbationThreshold;
36 
37 public:
38 
39 	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
40 
41 	virtual ~btConvexPlaneCollisionAlgorithm();
42 
43 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
44 
45 	void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
46 
47 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
48 
getAllContactManifolds(btManifoldArray & manifoldArray)49 	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
50 	{
51 		if (m_manifoldPtr && m_ownManifold)
52 		{
53 			manifoldArray.push_back(m_manifoldPtr);
54 		}
55 	}
56 
57 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
58 	{
59 		int	m_numPerturbationIterations;
60 		int m_minimumPointsPerturbationThreshold;
61 
CreateFuncCreateFunc62 		CreateFunc()
63 			: m_numPerturbationIterations(1),
64 			m_minimumPointsPerturbationThreshold(1)
65 		{
66 		}
67 
CreateCollisionAlgorithmCreateFunc68 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
69 		{
70 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
71 			if (!m_swapped)
72 			{
73 				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
74 			} else
75 			{
76 				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
77 			}
78 		}
79 	};
80 
81 };
82 
83 #endif //CONVEX_PLANE_COLLISION_ALGORITHM_H
84 
85