SpuContactManifoldCollisionAlgorithm.h

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
00017 #define BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
00018 
00019 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
00021 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
00022 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
00023 #include "LinearMath/btTransformUtil.h"
00024 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
00025 
00026 class btPersistentManifold;
00027 
00028 //#define USE_SEPDISTANCE_UTIL 1
00029 
00031 ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm
00032 {
00033         btVector3       m_shapeDimensions0;
00034         btVector3       m_shapeDimensions1;
00035         btPersistentManifold*   m_manifoldPtr;
00036         int             m_shapeType0;
00037         int             m_shapeType1;
00038         float   m_collisionMargin0;
00039         float   m_collisionMargin1;
00040 
00041         const btCollisionObject*        m_collisionObject0;
00042         const btCollisionObject*        m_collisionObject1;
00043         
00044         
00045 
00046         
00047 public:
00048         
00049         virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00050 
00051         virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00052 
00053         
00054         SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObject* body0,const btCollisionObject* body1);
00055 #ifdef USE_SEPDISTANCE_UTIL
00056         btConvexSeparatingDistanceUtil  m_sepDistance;
00057 #endif //USE_SEPDISTANCE_UTIL
00058 
00059         virtual ~SpuContactManifoldCollisionAlgorithm();
00060 
00061         virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
00062         {
00063                 if (m_manifoldPtr)
00064                         manifoldArray.push_back(m_manifoldPtr);
00065         }
00066 
00067         btPersistentManifold*   getContactManifoldPtr()
00068         {
00069                 return m_manifoldPtr;
00070         }
00071 
00072         const btCollisionObject*        getCollisionObject0()
00073         {
00074                 return m_collisionObject0;
00075         }
00076         
00077         const btCollisionObject*        getCollisionObject1()
00078         {
00079                 return m_collisionObject1;
00080         }
00081 
00082         int             getShapeType0() const
00083         {
00084                 return m_shapeType0;
00085         }
00086 
00087         int             getShapeType1() const
00088         {
00089                 return m_shapeType1;
00090         }
00091         float   getCollisionMargin0() const
00092         {
00093                 return m_collisionMargin0;
00094         }
00095         float   getCollisionMargin1() const
00096         {
00097                 return m_collisionMargin1;
00098         }
00099 
00100         const btVector3&        getShapeDimensions0() const
00101         {
00102                 return m_shapeDimensions0;
00103         }
00104 
00105         const btVector3&        getShapeDimensions1() const
00106         {
00107                 return m_shapeDimensions1;
00108         }
00109 
00110         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
00111         {
00112         virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
00113                 {
00114                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm));
00115                         return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
00116                 }
00117         };
00118 
00119 };
00120 
00121 #endif //BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H