btConvexPlaneCollisionAlgorithm.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
#define BT_CONVEX_PLANE_COLLISION_ALGORITHM_H

#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btPersistentManifold;
#include "btCollisionDispatcher.h"

#include "LinearMath/btVector3.h"

class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
{
        bool            m_ownManifold;
        btPersistentManifold*   m_manifoldPtr;
        bool            m_isSwapped;
        int                     m_numPerturbationIterations;
        int                     m_minimumPointsPerturbationThreshold;

public:

        btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);

        virtual ~btConvexPlaneCollisionAlgorithm();

        virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

        void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

        virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

        virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
        {
                if (m_manifoldPtr && m_ownManifold)
                {
                        manifoldArray.push_back(m_manifoldPtr);
                }
        }

        struct CreateFunc :public       btCollisionAlgorithmCreateFunc
        {
                int     m_numPerturbationIterations;
                int m_minimumPointsPerturbationThreshold;
                        
                CreateFunc() 
                        : m_numPerturbationIterations(1),
                        m_minimumPointsPerturbationThreshold(0)
                {
                }
                
                virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
                {
                        void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
                        if (!m_swapped)
                        {
                                return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
                        } else
                        {
                                return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
                        }
                }
        };

};

#endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H