tesseract_convex_convex_algorithm.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 TESSERACT_COLLISION_TESSERACT_CONVEX_CONVEX_ALGORITHM_H
#define TESSERACT_COLLISION_TESSERACT_CONVEX_CONVEX_ALGORITHM_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h>
#include <BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h>
#include <BulletCollision/NarrowPhaseCollision/btPersistentManifold.h>
#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
#include <BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h>
#include <BulletCollision/CollisionDispatch/btCollisionCreateFunc.h>
#include <BulletCollision/CollisionDispatch/btCollisionDispatcher.h>
#include <LinearMath/btTransformUtil.h>  //for btConvexSeparatingDistanceUtil
#include <BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_collision/core/types.h>
 
class btConvexPenetrationDepthSolver;
 
// LCOV_EXCL_START
namespace tesseract_collision::tesseract_collision_bullet
{
 
//#define USE_SEPDISTANCE_UTIL2 1
 
 
class TesseractConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
{
#ifdef USE_SEPDISTANCE_UTIL2
  btConvexSeparatingDistanceUtil m_sepDistance;
#endif
  btConvexPenetrationDepthSolver* m_pdSolver;
 
  btVertexArray worldVertsB1;
  btVertexArray worldVertsB2;
 
  bool m_ownManifold{ false };
  btPersistentManifold* m_manifoldPtr;
  bool m_lowLevelOfDetail{ false };
 
  int m_numPerturbationIterations;
  int m_minimumPointsPerturbationThreshold;
 
  ContactTestData* m_cdata;
 
 
public:
  TesseractConvexConvexAlgorithm(btPersistentManifold* mf,
                                 const btCollisionAlgorithmConstructionInfo& ci,
                                 const btCollisionObjectWrapper* body0Wrap,
                                 const btCollisionObjectWrapper* body1Wrap,
                                 btConvexPenetrationDepthSolver* pdSolver,
                                 int numPerturbationIterations,
                                 int minimumPointsPerturbationThreshold);
 
  ~TesseractConvexConvexAlgorithm() override;
  TesseractConvexConvexAlgorithm(const TesseractConvexConvexAlgorithm&) = delete;
  TesseractConvexConvexAlgorithm& operator=(const TesseractConvexConvexAlgorithm&) = delete;
  TesseractConvexConvexAlgorithm(TesseractConvexConvexAlgorithm&&) = delete;
  TesseractConvexConvexAlgorithm& operator=(TesseractConvexConvexAlgorithm&&) = delete;
 
  void processCollision(const btCollisionObjectWrapper* body0Wrap,
                        const btCollisionObjectWrapper* body1Wrap,
                        const btDispatcherInfo& dispatchInfo,
                        btManifoldResult* resultOut) override;
 
  btScalar calculateTimeOfImpact(btCollisionObject* body0,
                                 btCollisionObject* body1,
                                 const btDispatcherInfo& dispatchInfo,
                                 btManifoldResult* resultOut) override;
 
  void getAllContactManifolds(btManifoldArray& manifoldArray) override
  {
    if (m_manifoldPtr && m_ownManifold)  // NOLINT
      manifoldArray.push_back(m_manifoldPtr);
  }
 
  void setLowLevelOfDetail(bool useLowLevel);
 
  const btPersistentManifold* getManifold() { return m_manifoldPtr; }
 
  struct CreateFunc : public btCollisionAlgorithmCreateFunc
  {
    btConvexPenetrationDepthSolver* m_pdSolver;
    int m_numPerturbationIterations{ 0 };
    int m_minimumPointsPerturbationThreshold{ 3 };
 
    CreateFunc(btConvexPenetrationDepthSolver* pdSolver);
 
    btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci,
                                                   const btCollisionObjectWrapper* body0Wrap,
                                                   const btCollisionObjectWrapper* body1Wrap) override
    {
      void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(TesseractConvexConvexAlgorithm));
      // NOLINTNEXTLINE
      return new (mem) TesseractConvexConvexAlgorithm(ci.m_manifold,
                                                      ci,
                                                      body0Wrap,
                                                      body1Wrap,
                                                      m_pdSolver,
                                                      m_numPerturbationIterations,
                                                      m_minimumPointsPerturbationThreshold);
    }
  };
};
 
}  // namespace tesseract_collision::tesseract_collision_bullet
// LCOV_EXCL_STOP
#endif  // TESSERACT_COLLISION_TESSERACT_CONVEX_CONVEX_ALGORITHM_H