~ubuntu-branches/ubuntu/saucy/emscripten/saucy-proposed

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#ifndef BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H

#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H

#include "btActivatingCollisionAlgorithm.h"

#include "BulletCollision/BroadphaseCollision/btDispatcher.h"

#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"

#include "BulletCollision/CollisionShapes/btTriangleCallback.h"

#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"

class btDispatcher;

#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"

#include "btCollisionCreateFunc.h"

///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.

class btConvexTriangleCallback : public btTriangleCallback

{

btCollisionObject* m_convexBody;

btCollisionObject* m_triBody;

btVector3 m_aabbMin;

btVector3 m_aabbMax ;

btManifoldResult* m_resultOut;

btDispatcher* m_dispatcher;

const btDispatcherInfo* m_dispatchInfoPtr;

btScalar m_collisionMarginTriangle;

public:

int m_triangleCount;

btPersistentManifold* m_manifoldPtr;

btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);

void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

virtual ~btConvexTriangleCallback();

virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);

void clearCache();

SIMD_FORCE_INLINE const btVector3& getAabbMin() const

{

return m_aabbMin;

}

SIMD_FORCE_INLINE const btVector3& getAabbMax() const

{

return m_aabbMax;

}

};

/// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.

class btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm

{

bool m_isSwapped;

btConvexTriangleCallback m_btConvexTriangleCallback;

public:

btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);

virtual ~btConvexConcaveCollisionAlgorithm();

virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

virtual void getAllContactManifolds(btManifoldArray& manifoldArray);

void clearCache();

struct CreateFunc :public btCollisionAlgorithmCreateFunc

{

virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)

{

100

void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));

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return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);

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}

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};

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struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc

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{

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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(btConvexConcaveCollisionAlgorithm));

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return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);

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}

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};

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};

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#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H

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