dali-physics/third-party/bullet3/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  https://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 #ifndef BT_COLLISION__DISPATCHER_H
  17 #define BT_COLLISION__DISPATCHER_H
  18
  19 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
  20 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
  21
  22 #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
  23
  24 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
  25 #include "LinearMath/btAlignedObjectArray.h"
  26
  27 class btIDebugDraw;
  28 class btOverlappingPairCache;
  29 class btPoolAllocator;
  30 class btCollisionConfiguration;
  31
  32 #include "btCollisionCreateFunc.h"
  33
  34 #define USE_DISPATCH_REGISTRY_ARRAY 1
  35
  36 class btCollisionDispatcher;
  37 ///user can override this nearcallback for collision filtering and more finegrained control over collision detection
  38 typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
  39
  40 ///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
  41 ///Time of Impact, Closest Points and Penetration Depth.
  42 class btCollisionDispatcher : public btDispatcher
  43 {
  44 protected:
  45         int m_dispatcherFlags;
  46
  47         btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
  48
  49         btNearCallback m_nearCallback;
  50
  51         btPoolAllocator* m_collisionAlgorithmPoolAllocator;
  52
  53         btPoolAllocator* m_persistentManifoldPoolAllocator;
  54
  55         btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
  56
  57         btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
  58
  59         btCollisionConfiguration* m_collisionConfiguration;
  60
  61 public:
  62         enum DispatcherFlags
  63         {
  64                 CD_STATIC_STATIC_REPORTED = 1,
  65                 CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
  66                 CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
  67         };
  68
  69         int getDispatcherFlags() const
  70         {
  71                 return m_dispatcherFlags;
  72         }
  73
  74         void setDispatcherFlags(int flags)
  75         {
  76                 m_dispatcherFlags = flags;
  77         }
  78
  79         ///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
  80         void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
  81
  82         void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
  83
  84         int getNumManifolds() const
  85         {
  86                 return int(m_manifoldsPtr.size());
  87         }
  88
  89         btPersistentManifold** getInternalManifoldPointer()
  90         {
  91                 return m_manifoldsPtr.size() ? &m_manifoldsPtr[0] : 0;
  92         }
  93
  94         btPersistentManifold* getManifoldByIndexInternal(int index)
  95         {
  96                 btAssert(index>=0);
  97                 btAssert(index<m_manifoldsPtr.size());
  98                 return m_manifoldsPtr[index];
  99         }
 100
 101         const btPersistentManifold* getManifoldByIndexInternal(int index) const
 102         {
 103                 btAssert(index>=0);
 104                 btAssert(index<m_manifoldsPtr.size());
 105                 return m_manifoldsPtr[index];
 106         }
 107
 108         btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration);
 109
 110         virtual ~btCollisionDispatcher();
 111
 112         virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1);
 113
 114         virtual void releaseManifold(btPersistentManifold* manifold);
 115
 116         virtual void clearManifold(btPersistentManifold* manifold);
 117
 118         btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType);
 119
 120         virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
 121
 122         virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1);
 123
 124         virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher);
 125
 126         void setNearCallback(btNearCallback nearCallback)
 127         {
 128                 m_nearCallback = nearCallback;
 129         }
 130
 131         btNearCallback getNearCallback() const
 132         {
 133                 return m_nearCallback;
 134         }
 135
 136         //by default, Bullet will use this near callback
 137         static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
 138
 139         virtual void* allocateCollisionAlgorithm(int size);
 140
 141         virtual void freeCollisionAlgorithm(void* ptr);
 142
 143         btCollisionConfiguration* getCollisionConfiguration()
 144         {
 145                 return m_collisionConfiguration;
 146         }
 147
 148         const btCollisionConfiguration* getCollisionConfiguration() const
 149         {
 150                 return m_collisionConfiguration;
 151         }
 152
 153         void setCollisionConfiguration(btCollisionConfiguration* config)
 154         {
 155                 m_collisionConfiguration = config;
 156         }
 157
 158         virtual btPoolAllocator* getInternalManifoldPool()
 159         {
 160                 return m_persistentManifoldPoolAllocator;
 161         }
 162
 163         virtual const btPoolAllocator* getInternalManifoldPool() const
 164         {
 165                 return m_persistentManifoldPoolAllocator;
 166         }
 167 };
 168
 169 #endif  //BT_COLLISION__DISPATCHER_H