Bullet Collision Detection & Physics Library
btCollisionAlgorithm.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_COLLISION_ALGORITHM_H
17 #define BT_COLLISION_ALGORITHM_H
18 
19 #include "LinearMath/btScalar.h"
21 
22 struct btBroadphaseProxy;
23 class btDispatcher;
24 class btManifoldResult;
25 class btCollisionObject;
27 struct btDispatcherInfo;
29 
31 
33 {
35  :m_dispatcher1(0),
36  m_manifold(0)
37  {
38  }
40  :m_dispatcher1(dispatcher)
41  {
42  (void)temp;
43  }
44 
47 
48 // int getDispatcherId();
49 
50 };
51 
52 
56 {
57 
58 protected:
59 
61 
62 protected:
63 // int getDispatcherId();
64 
65 public:
66 
68 
70 
71  virtual ~btCollisionAlgorithm() {};
72 
73  virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
74 
75  virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
76 
77  virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0;
78 };
79 
80 
81 #endif //BT_COLLISION_ALGORITHM_H
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btManifoldResult is a helper class to manage contact results.
btCollisionObject can be used to manage collision detection objects.
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)=0
btCollisionAlgorithmConstructionInfo(btDispatcher *dispatcher, int temp)
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278