Bullet Collision Detection & Physics Library
btCompoundCompoundCollisionAlgorithm.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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_COMPOUND_COLLISION_ALGORITHM_H
18 #define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
19 
21 
25 
27 class btDispatcher;
32 class btDispatcher;
33 class btCollisionObject;
34 
35 class btCollisionShape;
36 typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
38 
41 {
42 
45 
46 
47  int m_compoundShapeRevision0;//to keep track of changes, so that childAlgorithm array can be updated
49 
50  void removeChildAlgorithms();
51 
52 // void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
53 
54 public:
55 
57 
59 
60 
61 
62  virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
63 
65 
66  virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
67 
68 
70  {
72  {
74  return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
75  }
76  };
77 
79  {
81  {
83  return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
84  }
85  };
86 
87 };
88 
89 #endif //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes ...
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
btManifoldResult is a helper class to manage contact results.
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
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.
class btHashedSimplePairCache * m_childCollisionAlgorithmCache
btCollisionObject can be used to manage collision detection objects.
btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision s...
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...
btShapePairCallback gCompoundCompoundChildShapePairCallback
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278