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

Bullet Collision Detection & Physics Library

btDispatcher.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_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 struct btCollisionObjectWrapper;
26
27 class btPersistentManifold;
28 class btPoolAllocator;
29
30 struct btDispatcherInfo
31 {
32 enum DispatchFunc
33 {
34 DISPATCH_DISCRETE = 1,
35 DISPATCH_CONTINUOUS
36 };
37 btDispatcherInfo()
38 :m_timeStep(btScalar(0.)),
39 m_stepCount(0),
40 m_dispatchFunc(DISPATCH_DISCRETE),
41 m_timeOfImpact(btScalar(1.)),
42 m_useContinuous(true),
43 m_debugDraw(0),
44 m_enableSatConvex(false),
45 m_enableSPU(true),
46 m_useEpa(true),
47 m_allowedCcdPenetration(btScalar(0.04)),
48 m_useConvexConservativeDistanceUtil(false),
49 m_convexConservativeDistanceThreshold(0.0f)
50 {
51
52 }
53 btScalar m_timeStep;
54 int m_stepCount;
55 int m_dispatchFunc;
56 mutable btScalar m_timeOfImpact;
57 bool m_useContinuous;
58 class btIDebugDraw* m_debugDraw;
59 bool m_enableSatConvex;
60 bool m_enableSPU;
61 bool m_useEpa;
62 btScalar m_allowedCcdPenetration;
63 bool m_useConvexConservativeDistanceUtil;
64 btScalar m_convexConservativeDistanceThreshold;
65 };
66
69 class btDispatcher
70 {
71
72
73 public:
74 virtual ~btDispatcher() ;
75
76 virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold=0) = 0;
77
78 virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0;
79
80 virtual void releaseManifold(btPersistentManifold* manifold)=0;
81
82 virtual void clearManifold(btPersistentManifold* manifold)=0;
83
84 virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0;
85
86 virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0;
87
88 virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) =0;
89
90 virtual int getNumManifolds() const = 0;
91
92 virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
93
94 virtual btPersistentManifold** getInternalManifoldPointer() = 0;
95
96 virtual btPoolAllocator* getInternalManifoldPool() = 0;
97
98 virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
99
100 virtual void* allocateCollisionAlgorithm(int size) = 0;
101
102 virtual void freeCollisionAlgorithm(void* ptr) = 0;
103
104 };
105
106
107 #endif //BT_DISPATCHER_H
btDispatcherInfo::DISPATCH_DISCRETE
Definition: btDispatcher.h:34
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btDispatcherInfo::btDispatcherInfo
btDispatcherInfo()
Definition: btDispatcher.h:37
btDispatcherInfo::m_convexConservativeDistanceThreshold
btScalar m_convexConservativeDistanceThreshold
Definition: btDispatcher.h:64
btDispatcherInfo::m_dispatchFunc
int m_dispatchFunc
Definition: btDispatcher.h:55
size
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition: btDbvt.cpp:52
btDispatcherInfo::DISPATCH_CONTINUOUS
Definition: btDispatcher.h:35
btDispatcherInfo::m_useConvexConservativeDistanceUtil
bool m_useConvexConservativeDistanceUtil
Definition: btDispatcher.h:63
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btDispatcherInfo::DispatchFunc
DispatchFunc
Definition: btDispatcher.h:32
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
Definition: btOverlappingPairCache.h:60
btDispatcherInfo::m_timeOfImpact
btScalar m_timeOfImpact
Definition: btDispatcher.h:56
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:85
btDispatcherInfo::m_stepCount
int m_stepCount
Definition: btDispatcher.h:54
btDispatcherInfo::m_allowedCcdPenetration
btScalar m_allowedCcdPenetration
Definition: btDispatcher.h:62
btDispatcherInfo::m_useEpa
bool m_useEpa
Definition: btDispatcher.h:61
btDispatcherInfo::m_useContinuous
bool m_useContinuous
Definition: btDispatcher.h:57
btPoolAllocator
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
Definition: btPoolAllocator.h:23
btDispatcherInfo::m_enableSPU
bool m_enableSPU
Definition: btDispatcher.h:60
btDispatcherInfo
Definition: btDispatcher.h:30
btDispatcherInfo::m_timeStep
btScalar m_timeStep
Definition: btDispatcher.h:53
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btDispatcherInfo::m_enableSatConvex
bool m_enableSatConvex
Definition: btDispatcher.h:59
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btScalar.h