reactphysics3d/src/collision/narrowphase/DefaultCollisionDispatch.cpp

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2015 Daniel Chappuis                                       *
*********************************************************************************
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* This software is provided 'as-is', without any express or implied warranty.   *
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* use of this software.                                                         *
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*    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.                                           *
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*    misrepresented as being the original software.                             *
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* 3. This notice may not be removed or altered from any source distribution.    *
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// Libraries
#include "DefaultCollisionDispatch.h"
#include "collision/shapes/CollisionShape.h"

using namespace reactphysics3d;

// Constructor
DefaultCollisionDispatch::DefaultCollisionDispatch() {

}

// Destructor
DefaultCollisionDispatch::~DefaultCollisionDispatch() {

}

/// Initialize the collision dispatch configuration
void DefaultCollisionDispatch::init(CollisionDetection* collisionDetection,
                                    MemoryAllocator* memoryAllocator) {

    // Initialize the collision algorithms
    mSphereVsSphereAlgorithm.init(collisionDetection, memoryAllocator);
    mGJKAlgorithm.init(collisionDetection, memoryAllocator);
    mConcaveVsConvexAlgorithm.init(collisionDetection, memoryAllocator);
}

// Select and return the narrow-phase collision detection algorithm to
// use between two types of collision shapes.
NarrowPhaseAlgorithm* DefaultCollisionDispatch::selectAlgorithm(int type1, int type2) {

    CollisionShapeType shape1Type = static_cast<CollisionShapeType>(type1);
    CollisionShapeType shape2Type = static_cast<CollisionShapeType>(type2);

    // Sphere vs Sphere algorithm
    if (shape1Type == SPHERE && shape2Type == SPHERE) {
        return &mSphereVsSphereAlgorithm;
    }
    // Concave vs Convex algorithm
    else if ((!CollisionShape::isConvex(shape1Type) && CollisionShape::isConvex(shape2Type)) ||
             (!CollisionShape::isConvex(shape2Type) && CollisionShape::isConvex(shape1Type))) {
        return &mConcaveVsConvexAlgorithm;
    }
    // Convex vs Convex algorithm (GJK algorithm)
    else if (CollisionShape::isConvex(shape1Type) && CollisionShape::isConvex(shape2Type)) {
        return &mGJKAlgorithm;
    }
    else {
        return NULL;
    }
}