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Extras/ExtraSolid35/CombinedSimplexSolver.h

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+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef COMBINED_SIMPLEX_SOLVER
+#define COMBINED_SIMPLEX_SOLVER
+
+#include "NarrowPhaseCollision/SimplexSolverInterface.h"
+#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
+#include "Solid3JohnsonSimplexSolver.h"
+
+/// CombinedSimplexSolver runs both Solid and Voronoi Simplex Solver for comparison
+class CombinedSimplexSolver: public SimplexSolverInterface
+{
+	VoronoiSimplexSolver	m_voronoiSolver;
+//	VoronoiSimplexSolver	m_johnsonSolver;
+
+	Solid3JohnsonSimplexSolver	m_johnsonSolver;
+	
+	bool	m_useVoronoiSolver;
+
+	void	debugPrint();
+
+	public:
+		CombinedSimplexSolver();
+	
+	virtual ~CombinedSimplexSolver() {};
+
+	virtual void reset();
+
+	virtual void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q);
+	
+	virtual bool closest(SimdVector3& v);
+
+	virtual SimdScalar maxVertex();
+
+	virtual bool fullSimplex() const;
+
+	virtual int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const;
+
+	virtual bool inSimplex(const SimdVector3& w);
+	
+	virtual void backup_closest(SimdVector3& v) ;
+
+	virtual bool emptySimplex() const;
+
+	virtual void compute_points(SimdPoint3& p1, SimdPoint3& p2);
+
+	virtual int numVertices() const;
+
+	
+};
+
+
+#endif //COMBINED_SIMPLEX_SOLVER