Bullet Collision Detection & Physics Library: btSimulationIslandManager.h Source File

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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
19 #include "BulletCollision/CollisionDispatch/btUnionFind.h"
20 #include "btCollisionCreateFunc.h"
21 #include "LinearMath/btAlignedObjectArray.h"
22 #include "btCollisionObject.h"
23
24 class btCollisionObject;
25 class btCollisionWorld;
26 class btDispatcher;
27 class btPersistentManifold;
28
29
31 class btSimulationIslandManager
32 {
33 btUnionFind m_unionFind;
34
35 btAlignedObjectArray<btPersistentManifold*> m_islandmanifold;
36 btAlignedObjectArray<btCollisionObject* > m_islandBodies;
37
38 bool m_splitIslands;
39
40 public:
41 btSimulationIslandManager();
42 virtual ~btSimulationIslandManager();
43
44
45 void initUnionFind(int n);
46
47
48 btUnionFind& getUnionFind() { return m_unionFind;}
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
58 struct IslandCallback
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
69 bool getSplitIslands()
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
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btUnionFind.h
btAlignedObjectArray< btPersistentManifold * >
btSimulationIslandManager::m_islandBodies
btAlignedObjectArray< btCollisionObject * > m_islandBodies
Definition: btSimulationIslandManager.h:36
btSimulationIslandManager
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
Definition: btSimulationIslandManager.h:31
btSimulationIslandManager::buildAndProcessIslands
void buildAndProcessIslands(btDispatcher *dispatcher, btCollisionWorld *collisionWorld, IslandCallback *callback)
Definition: btSimulationIslandManager.cpp:354
btSimulationIslandManager::buildIslands
void buildIslands(btDispatcher *dispatcher, btCollisionWorld *colWorld)
Definition: btSimulationIslandManager.cpp:203
btSimulationIslandManager::updateActivationState
virtual void updateActivationState(btCollisionWorld *colWorld, btDispatcher *dispatcher)
Definition: btSimulationIslandManager.cpp:127
btSimulationIslandManager::IslandCallback
Definition: btSimulationIslandManager.h:58
btUnionFind
UnionFind calculates connected subsets.
Definition: btUnionFind.h:35
btSimulationIslandManager::btSimulationIslandManager
btSimulationIslandManager()
Definition: btSimulationIslandManager.cpp:28
btCollisionCreateFunc.h
btSimulationIslandManager::m_splitIslands
bool m_splitIslands
Definition: btSimulationIslandManager.h:38
btSimulationIslandManager::m_unionFind
btUnionFind m_unionFind
Definition: btSimulationIslandManager.h:33
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btSimulationIslandManager::initUnionFind
void initUnionFind(int n)
Definition: btSimulationIslandManager.cpp:38
btSimulationIslandManager::setSplitIslands
void setSplitIslands(bool doSplitIslands)
Definition: btSimulationIslandManager.h:73
btCollisionWorld
CollisionWorld is interface and container for the collision detection.
Definition: btCollisionWorld.h:88
btSimulationIslandManager::IslandCallback::processIsland
virtual void processIsland(btCollisionObject **bodies, int numBodies, class btPersistentManifold **manifolds, int numManifolds, int islandId)=0
btSimulationIslandManager::getSplitIslands
bool getSplitIslands()
Definition: btSimulationIslandManager.h:69
btSimulationIslandManager::storeIslandActivationState
virtual void storeIslandActivationState(btCollisionWorld *world)
Definition: btSimulationIslandManager.cpp:152
btCollisionObject.h
btSimulationIslandManager::m_islandmanifold
btAlignedObjectArray< btPersistentManifold * > m_islandmanifold
Definition: btSimulationIslandManager.h:35
btSimulationIslandManager::IslandCallback::~IslandCallback
virtual ~IslandCallback()
Definition: btSimulationIslandManager.h:60
btSimulationIslandManager::getUnionFind
btUnionFind & getUnionFind()
Definition: btSimulationIslandManager.h:48
btAlignedObjectArray.h
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btSimulationIslandManager::findUnions
void findUnions(btDispatcher *dispatcher, btCollisionWorld *colWorld)
Definition: btSimulationIslandManager.cpp:44
btSimulationIslandManager::~btSimulationIslandManager
virtual ~btSimulationIslandManager()
Definition: btSimulationIslandManager.cpp:33