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#ifndef BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H

#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H

#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"

#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"

#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"

#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"

#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"

#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"

#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"

#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil

class btConvexPenetrationDepthSolver;

///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape

///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation

class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm

{

btSimplexSolverInterface* m_simplexSolver;

btConvexPenetrationDepthSolver* m_pdSolver;

bool m_ownManifold;

btPersistentManifold* m_manifoldPtr;

bool m_lowLevelOfDetail;

int m_numPerturbationIterations;

int m_minimumPointsPerturbationThreshold;

public:

btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);

virtual ~btConvex2dConvex2dAlgorithm();

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

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

virtual void getAllContactManifolds(btManifoldArray& manifoldArray)

{

///should we use m_ownManifold to avoid adding duplicates?

if (m_manifoldPtr && m_ownManifold)

manifoldArray.push_back(m_manifoldPtr);

}

void setLowLevelOfDetail(bool useLowLevel);

const btPersistentManifold* getManifold()

{

return m_manifoldPtr;

}

struct CreateFunc :public btCollisionAlgorithmCreateFunc

{

btConvexPenetrationDepthSolver* m_pdSolver;

btSimplexSolverInterface* m_simplexSolver;

int m_numPerturbationIterations;

int m_minimumPointsPerturbationThreshold;

CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);

virtual ~CreateFunc();

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

{

void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));

return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);

}

};

#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H

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