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Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.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 CONVEX_CONCAVE_COLLISION_ALGORITHM_H
+#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
+
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+#include "BroadphaseCollision/Dispatcher.h"
+#include "BroadphaseCollision/BroadphaseInterface.h"
+#include "CollisionShapes/TriangleCallback.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+class Dispatcher;
+#include "BroadphaseCollision/BroadphaseProxy.h"
+
+
+
+class BoxTriangleCallback : public TriangleCallback
+{
+	BroadphaseProxy* m_boxProxy;
+	BroadphaseProxy m_triangleProxy;
+
+	SimdVector3	m_aabbMin;
+	SimdVector3	m_aabbMax ;
+
+	Dispatcher*	m_dispatcher;
+	const DispatcherInfo* m_dispatchInfoPtr;
+	float m_collisionMarginTriangle;
+	
+public:
+int	m_triangleCount;
+	
+	PersistentManifold*	m_manifoldPtr;
+
+	BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	void	SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo);
+
+	virtual ~BoxTriangleCallback();
+
+	virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex);
+	
+	void ClearCache();
+
+	inline const SimdVector3& GetAabbMin() const
+	{
+		return m_aabbMin;
+	}
+	inline const SimdVector3& GetAabbMax() const
+	{
+		return m_aabbMax;
+	}
+
+};
+
+
+
+
+/// ConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
+class ConvexConcaveCollisionAlgorithm  : public CollisionAlgorithm
+{
+
+	BroadphaseProxy m_convex;
+
+	BroadphaseProxy m_concave;
+
+	BoxTriangleCallback m_boxTriangleCallback;
+
+
+public:
+
+	ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	virtual ~ConvexConcaveCollisionAlgorithm();
+
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
+
+	float	CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
+
+	void	ClearCache();
+
+};
+
+#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H