Bullet Collision Detection & Physics Library
btCompoundCollisionAlgorithm.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 
17 #ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
18 #define BT_COMPOUND_COLLISION_ALGORITHM_H
19 
23 
25 class btDispatcher;
27 #include "btCollisionCreateFunc.h"
29 class btDispatcher;
30 class btCollisionObject;
31 
32 class btCollisionShape;
33 typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
35 
38 {
39 protected:
42 
45 
46 
47  int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
48 
49  void removeChildAlgorithms();
50 
52 
53 public:
54 
56 
58 
60  {
61  return m_childCollisionAlgorithms[n];
62  }
63 
64 
65  virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
66 
68 
69  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
70  {
71  int i;
72  for (i=0;i<m_childCollisionAlgorithms.size();i++)
73  {
74  if (m_childCollisionAlgorithms[i])
75  m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
76  }
77  }
78 
79 
81  {
83  {
85  return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
86  }
87  };
88 
90  {
92  {
94  return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
95  }
96  };
97 
98 };
99 
100 #endif //BT_COMPOUND_COLLISION_ALGORITHM_H
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
btCollisionAlgorithm * getChildAlgorithm(int n) const
btShapePairCallback gCompoundChildShapePairCallback
class btPersistentManifold * m_sharedManifold
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
btManifoldResult is a helper class to manage contact results.
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
btAlignedObjectArray< btCollisionAlgorithm * > m_childCollisionAlgorithms
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
int size() const
return the number of elements in the array
virtual void * allocateCollisionAlgorithm(int size)=0
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
btCollisionObject can be used to manage collision detection objects.
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision s...
void preallocateChildAlgorithms(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
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...
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278