Bullet Collision Detection & Physics Library
btSimulationIslandManager.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_SIMULATION_ISLAND_MANAGER_H
17 #define BT_SIMULATION_ISLAND_MANAGER_H
18 
20 #include "btCollisionCreateFunc.h"
22 #include "btCollisionObject.h"
23 
24 class btCollisionObject;
25 class btCollisionWorld;
26 class btDispatcher;
28 
29 
32 {
34 
37 
39 
40 public:
43 
44 
45  void initUnionFind(int n);
46 
47 
49 
50  virtual void updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher);
51  virtual void storeIslandActivationState(btCollisionWorld* world);
52 
53 
54  void findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld);
55 
56 
57 
59  {
60  virtual ~IslandCallback() {};
61 
62  virtual void processIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
63  };
64 
65  void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback);
66 
67  void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
68 
70  {
71  return m_splitIslands;
72  }
73  void setSplitIslands(bool doSplitIslands)
74  {
75  m_splitIslands = doSplitIslands;
76  }
77 
78 };
79 
80 #endif //BT_SIMULATION_ISLAND_MANAGER_H
81 
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
btAlignedObjectArray< btCollisionObject * > m_islandBodies
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
void buildAndProcessIslands(btDispatcher *dispatcher, btCollisionWorld *collisionWorld, IslandCallback *callback)
void buildIslands(btDispatcher *dispatcher, btCollisionWorld *colWorld)
virtual void updateActivationState(btCollisionWorld *colWorld, btDispatcher *dispatcher)
UnionFind calculates connected subsets.
Definition: btUnionFind.h:35
btCollisionObject can be used to manage collision detection objects.
void setSplitIslands(bool doSplitIslands)
CollisionWorld is interface and container for the collision detection.
virtual void processIsland(btCollisionObject **bodies, int numBodies, class btPersistentManifold **manifolds, int numManifolds, int islandId)=0
virtual void storeIslandActivationState(btCollisionWorld *world)
btAlignedObjectArray< btPersistentManifold * > m_islandmanifold
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
void findUnions(btDispatcher *dispatcher, btCollisionWorld *colWorld)