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Bullet/CollisionDispatch/ConvexConvexAlgorithm.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_CONVEX_ALGORITHM_H
+#define CONVEX_CONVEX_ALGORITHM_H
+
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+#include "NarrowPhaseCollision/GjkPairDetector.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "BroadphaseCollision/BroadphaseProxy.h"
+#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
+
+class ConvexPenetrationDepthSolver;
+
+///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
+class ConvexConvexAlgorithm : public CollisionAlgorithm
+{
+	//ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
+	VoronoiSimplexSolver	m_simplexSolver;
+	GjkPairDetector m_gjkPairDetector;
+	bool	m_useEpa;
+public:
+	BroadphaseProxy	m_box0;
+	BroadphaseProxy	m_box1;
+
+	bool	m_ownManifold;
+	PersistentManifold*	m_manifoldPtr;
+	bool			m_lowLevelOfDetail;
+
+	void	CheckPenetrationDepthSolver();
+
+	
+
+public:
+
+	ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	virtual ~ConvexConvexAlgorithm();
+
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
+
+	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
+
+	void	SetLowLevelOfDetail(bool useLowLevel);
+
+	
+
+	const PersistentManifold*	GetManifold()
+	{
+		return m_manifoldPtr;
+	}
+
+};
+
+#endif //CONVEX_CONVEX_ALGORITHM_H