src/BulletCollision/BroadphaseCollision/btDispatcher.h

   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_DISPATCHER_H
  17 #define BT_DISPATCHER_H
  18 #include "LinearMath/btScalar.h"
  19
  20 class btCollisionAlgorithm;
  21 struct btBroadphaseProxy;
  22 class btRigidBody;
  23 class   btCollisionObject;
  24 class btOverlappingPairCache;
  25
  26
  27 class btPersistentManifold;
  28 class btStackAlloc;
  29 class btPoolAllocator;
  30
  31 struct btDispatcherInfo
  32 {
  33         enum DispatchFunc
  34         {
  35                 DISPATCH_DISCRETE = 1,
  36                 DISPATCH_CONTINUOUS
  37         };
  38         btDispatcherInfo()
  39                 :m_timeStep(btScalar(0.)),
  40                 m_stepCount(0),
  41                 m_dispatchFunc(DISPATCH_DISCRETE),
  42                 m_timeOfImpact(btScalar(1.)),
  43                 m_useContinuous(true),
  44                 m_debugDraw(0),
  45                 m_enableSatConvex(false),
  46                 m_enableSPU(true),
  47                 m_useEpa(true),
  48                 m_allowedCcdPenetration(btScalar(0.04)),
  49                 m_useConvexConservativeDistanceUtil(false),
  50                 m_convexConservativeDistanceThreshold(0.0f),
  51                 m_stackAllocator(0)
  52         {
  53
  54         }
  55         btScalar        m_timeStep;
  56         int                     m_stepCount;
  57         int                     m_dispatchFunc;
  58         mutable btScalar        m_timeOfImpact;
  59         bool            m_useContinuous;
  60         class btIDebugDraw*     m_debugDraw;
  61         bool            m_enableSatConvex;
  62         bool            m_enableSPU;
  63         bool            m_useEpa;
  64         btScalar        m_allowedCcdPenetration;
  65         bool            m_useConvexConservativeDistanceUtil;
  66         btScalar        m_convexConservativeDistanceThreshold;
  67         btStackAlloc*   m_stackAllocator;
  68 };
  69
  70 ///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.
  71 ///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic).
  72 class btDispatcher
  73 {
  74
  75
  76 public:
  77         virtual ~btDispatcher() ;
  78
  79         virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
  80
  81         virtual btPersistentManifold*   getNewManifold(void* body0,void* body1)=0;
  82
  83         virtual void releaseManifold(btPersistentManifold* manifold)=0;
  84
  85         virtual void clearManifold(btPersistentManifold* manifold)=0;
  86
  87         virtual bool    needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
  88
  89         virtual bool    needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
  90
  91         virtual void    dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;
  92
  93         virtual int getNumManifolds() const = 0;
  94
  95         virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
  96
  97         virtual btPersistentManifold**  getInternalManifoldPointer() = 0;
  98
  99         virtual btPoolAllocator*        getInternalManifoldPool() = 0;
 100
 101         virtual const btPoolAllocator*  getInternalManifoldPool() const = 0;
 102
 103         virtual void* allocateCollisionAlgorithm(int size)  = 0;
 104
 105         virtual void freeCollisionAlgorithm(void* ptr) = 0;
 106
 107 };
 108
 109
 110 #endif //BT_DISPATCHER_H