btGjkPairDetector.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 BT_GJK_PAIR_DETECTOR_H
#define BT_GJK_PAIR_DETECTOR_H

#include "btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"

class btConvexShape;
#include "btSimplexSolverInterface.h"
class btConvexPenetrationDepthSolver;

class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
{
        

        btVector3       m_cachedSeparatingAxis;
        btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
        btSimplexSolverInterface* m_simplexSolver;
        const btConvexShape* m_minkowskiA;
        const btConvexShape* m_minkowskiB;
        int     m_shapeTypeA;
        int m_shapeTypeB;
        btScalar        m_marginA;
        btScalar        m_marginB;

        bool            m_ignoreMargin;
        btScalar        m_cachedSeparatingDistance;
        

public:

        //some debugging to fix degeneracy problems
        int                     m_lastUsedMethod;
        int                     m_curIter;
        int                     m_degenerateSimplex;
        int                     m_catchDegeneracies;
        int                     m_fixContactNormalDirection;

        btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*     penetrationDepthSolver);
        btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*   penetrationDepthSolver);
        virtual ~btGjkPairDetector() {};

        virtual void    getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);

        void    getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
        

        void setMinkowskiA(const btConvexShape* minkA)
        {
                m_minkowskiA = minkA;
        }

        void setMinkowskiB(const btConvexShape* minkB)
        {
                m_minkowskiB = minkB;
        }
        void setCachedSeperatingAxis(const btVector3& seperatingAxis)
        {
                m_cachedSeparatingAxis = seperatingAxis;
        }

        const btVector3& getCachedSeparatingAxis() const
        {
                return m_cachedSeparatingAxis;
        }
        btScalar        getCachedSeparatingDistance() const
        {
                return m_cachedSeparatingDistance;
        }

        void    setPenetrationDepthSolver(btConvexPenetrationDepthSolver*       penetrationDepthSolver)
        {
                m_penetrationDepthSolver = penetrationDepthSolver;
        }

        void    setIgnoreMargin(bool ignoreMargin)
        {
                m_ignoreMargin = ignoreMargin;
        }


};

#endif //BT_GJK_PAIR_DETECTOR_H