Update Files

lib/haxebullet/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.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_CONVEX_CONVEX_ALGORITHM_H
+#define BT_CONVEX_CONVEX_ALGORITHM_H
+
+#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "btCollisionCreateFunc.h"
+#include "btCollisionDispatcher.h"
+#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
+#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
+
+class btConvexPenetrationDepthSolver;
+
+///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise
+///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
+///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
+///for certain pairs that have a small size ratio
+
+//#define USE_SEPDISTANCE_UTIL2 1
+
+///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
+///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
+///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
+class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
+{
+#ifdef USE_SEPDISTANCE_UTIL2
+	btConvexSeparatingDistanceUtil	m_sepDistance;
+#endif
+	btConvexPenetrationDepthSolver* m_pdSolver;
+
+	btVertexArray worldVertsB1;
+	btVertexArray worldVertsB2;
+	
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	bool			m_lowLevelOfDetail;
+	
+	int m_numPerturbationIterations;
+	int m_minimumPointsPerturbationThreshold;
+
+
+	///cache separating vector to speedup collision detection
+	
+
+public:
+
+	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
+
+	virtual ~btConvexConvexAlgorithm();
+
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,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;
+		int m_numPerturbationIterations;
+		int m_minimumPointsPerturbationThreshold;
+
+		CreateFunc(btConvexPenetrationDepthSolver* pdSolver);
+		
+		virtual ~CreateFunc();
+
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
+			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+		}
+	};
+
+
+};
+
+#endif //BT_CONVEX_CONVEX_ALGORITHM_H