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

Bullet Collision Detection & Physics Library

btBoxBoxCollisionAlgorithm.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_BOX_BOX__COLLISION_ALGORITHM_H
17 #define BT_BOX_BOX__COLLISION_ALGORITHM_H
18
19 #include "btActivatingCollisionAlgorithm.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
22 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
23
24 class btPersistentManifold;
25
27 class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
28 {
29 bool m_ownManifold;
30 btPersistentManifold* m_manifoldPtr;
31
32 public:
33 btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
34 : btActivatingCollisionAlgorithm(ci) {}
35
36 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
37
38 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
39
40 btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
41
42 virtual ~btBoxBoxCollisionAlgorithm();
43
44 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
45 {
46 if (m_manifoldPtr && m_ownManifold)
47 {
48 manifoldArray.push_back(m_manifoldPtr);
49 }
50 }
51
52
53 struct CreateFunc :public btCollisionAlgorithmCreateFunc
54 {
55 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
56 {
57 int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
58 void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
59 return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
60 }
61 };
62
63 };
64
65 #endif //BT_BOX_BOX__COLLISION_ALGORITHM_H
66
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:274
btBoxBoxCollisionAlgorithm
box-box collision detection
Definition: btBoxBoxCollisionAlgorithm.h:27
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:53
btBoxBoxCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btBoxBoxCollisionAlgorithm.h:55
btBoxBoxCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btBoxBoxCollisionAlgorithm.cpp:45
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btCollisionCreateFunc.h
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btBoxBoxCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btBoxBoxCollisionAlgorithm.cpp:80
btBoxBoxCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btBoxBoxCollisionAlgorithm.h:29
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btBroadphaseProxy.h
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition: btBoxBoxCollisionAlgorithm.h:33
btBoxBoxCollisionAlgorithm::CreateFunc
Definition: btBoxBoxCollisionAlgorithm.h:53
btBoxBoxCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btBoxBoxCollisionAlgorithm.h:44
btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm
virtual ~btBoxBoxCollisionAlgorithm()
Definition: btBoxBoxCollisionAlgorithm.cpp:36
btBoxBoxCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btBoxBoxCollisionAlgorithm.h:30
btActivatingCollisionAlgorithm.h
btDispatcherInfo
Definition: btDispatcher.h:30
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btDispatcher.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279