57 lines
2.5 KiB
C++
57 lines
2.5 KiB
C++
/*
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Copyright (c) 2012 Advanced Micro Devices, Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//Originally written by Erwin Coumans
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#ifndef CUSTOM_CONVEX_CONVEX_PAIR_COLLISION_H
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#define CUSTOM_CONVEX_CONVEX_PAIR_COLLISION_H
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#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
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class CustomConvexConvexPairCollision : public btConvexConvexAlgorithm
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{
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public:
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CustomConvexConvexPairCollision(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
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virtual ~CustomConvexConvexPairCollision();
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virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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btPersistentManifold* getManifoldPtr()
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{
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return m_manifoldPtr;
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}
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void createManifoldPtr(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo);
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struct CreateFunc :public btConvexConvexAlgorithm::CreateFunc
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{
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CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
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virtual ~CreateFunc();
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(CustomConvexConvexPairCollision));
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return new(mem) CustomConvexConvexPairCollision(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
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}
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};
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};
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#endif //CUSTOM_CONVEX_CONVEX_PAIR_COLLISION_H
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