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Bullet/NarrowPhaseCollision/GjkPairDetector.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 GJK_PAIR_DETECTOR_H
+#define GJK_PAIR_DETECTOR_H
+
+#include "DiscreteCollisionDetectorInterface.h"
+#include "SimdPoint3.h"
+
+#include <CollisionShapes/CollisionMargin.h>
+
+class ConvexShape;
+#include "SimplexSolverInterface.h"
+class ConvexPenetrationDepthSolver;
+
+/// GjkPairDetector uses GJK to implement the DiscreteCollisionDetectorInterface
+class GjkPairDetector : public DiscreteCollisionDetectorInterface
+{
+	
+
+	SimdVector3	m_cachedSeparatingAxis;
+	ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
+	SimplexSolverInterface* m_simplexSolver;
+	ConvexShape* m_minkowskiA;
+	ConvexShape* m_minkowskiB;
+	bool		m_ignoreMargin;
+
+public:
+
+	GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver*	penetrationDepthSolver);
+	virtual ~GjkPairDetector() {};
+
+	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw);
+
+	void SetMinkowskiA(ConvexShape* minkA)
+	{
+		m_minkowskiA = minkA;
+	}
+
+	void SetMinkowskiB(ConvexShape* minkB)
+	{
+		m_minkowskiB = minkB;
+	}
+	void SetCachedSeperatingAxis(const SimdVector3& seperatingAxis)
+	{
+		m_cachedSeparatingAxis = seperatingAxis;
+	}
+
+	void	SetPenetrationDepthSolver(ConvexPenetrationDepthSolver*	penetrationDepthSolver)
+	{
+		m_penetrationDepthSolver = penetrationDepthSolver;
+	}
+
+	void	SetIgnoreMargin(bool ignoreMargin)
+	{
+		m_ignoreMargin = ignoreMargin;
+	}
+
+};
+
+#endif //GJK_PAIR_DETECTOR_H