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btSphereBoxCollisionAlgorithm.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef SPHERE_BOX_COLLISION_ALGORITHM_H
00017 #define SPHERE_BOX_COLLISION_ALGORITHM_H
00018 
00019 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
00021 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
00022 class btPersistentManifold;
00023 #include "btCollisionDispatcher.h"
00024 
00025 #include "LinearMath/btVector3.h"
00026 
00029 class btSphereBoxCollisionAlgorithm : public btCollisionAlgorithm
00030 {
00031        bool   m_ownManifold;
00032        btPersistentManifold*       m_manifoldPtr;
00033        bool   m_isSwapped;
00034        
00035 public:
00036 
00037        btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
00038 
00039        virtual ~btSphereBoxCollisionAlgorithm();
00040 
00041        virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00042 
00043        virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00044 
00045        btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
00046 
00047        btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
00048        
00049        struct CreateFunc :public   btCollisionAlgorithmCreateFunc
00050        {
00051               virtual       btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
00052               {
00053                      void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
00054                      if (!m_swapped)
00055                      {
00056                             return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
00057                      } else
00058                      {
00059                             return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
00060                      }
00061               }
00062        };
00063 
00064 };
00065 
00066 #endif //SPHERE_BOX_COLLISION_ALGORITHM_H
00067