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

Bullet Collision Detection & Physics Library

btCollisionDispatcher.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_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;
38 typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
39
40
43 class btCollisionDispatcher : public btDispatcher
44 {
45
46 protected:
47
48 int m_dispatcherFlags;
49
50 btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
51
52 btManifoldResult m_defaultManifoldResult;
53
54 btNearCallback m_nearCallback;
55
56 btPoolAllocator* m_collisionAlgorithmPoolAllocator;
57
58 btPoolAllocator* m_persistentManifoldPoolAllocator;
59
60 btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
61
62 btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
63
64 btCollisionConfiguration* m_collisionConfiguration;
65
66
67 public:
68
69 enum DispatcherFlags
70 {
71 CD_STATIC_STATIC_REPORTED = 1,
72 CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
73 CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
74 };
75
76 int getDispatcherFlags() const
77 {
78 return m_dispatcherFlags;
79 }
80
81 void setDispatcherFlags(int flags)
82 {
83 m_dispatcherFlags = flags;
84 }
85
87 void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
88
89 void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc);
90
91 int getNumManifolds() const
92 {
93 return int( m_manifoldsPtr.size());
94 }
95
96 btPersistentManifold** getInternalManifoldPointer()
97 {
98 return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0;
99 }
100
101 btPersistentManifold* getManifoldByIndexInternal(int index)
102 {
103 return m_manifoldsPtr[index];
104 }
105
106 const btPersistentManifold* getManifoldByIndexInternal(int index) const
107 {
108 return m_manifoldsPtr[index];
109 }
110
111 btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
112
113 virtual ~btCollisionDispatcher();
114
115 virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1);
116
117 virtual void releaseManifold(btPersistentManifold* manifold);
118
119
120 virtual void clearManifold(btPersistentManifold* manifold);
121
122 btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType);
123
124 virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1);
125
126 virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1);
127
128 virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
129
130 void setNearCallback(btNearCallback nearCallback)
131 {
132 m_nearCallback = nearCallback;
133 }
134
135 btNearCallback getNearCallback() const
136 {
137 return m_nearCallback;
138 }
139
140 //by default, Bullet will use this near callback
141 static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
142
143 virtual void* allocateCollisionAlgorithm(int size);
144
145 virtual void freeCollisionAlgorithm(void* ptr);
146
147 btCollisionConfiguration* getCollisionConfiguration()
148 {
149 return m_collisionConfiguration;
150 }
151
152 const btCollisionConfiguration* getCollisionConfiguration() const
153 {
154 return m_collisionConfiguration;
155 }
156
157 void setCollisionConfiguration(btCollisionConfiguration* config)
158 {
159 m_collisionConfiguration = config;
160 }
161
162 virtual btPoolAllocator* getInternalManifoldPool()
163 {
164 return m_persistentManifoldPoolAllocator;
165 }
166
167 virtual const btPoolAllocator* getInternalManifoldPool() const
168 {
169 return m_persistentManifoldPoolAllocator;
170 }
171
172 };
173
174 #endif //BT_COLLISION__DISPATCHER_H
175
btCollisionDispatcher::setDispatcherFlags
void setDispatcherFlags(int flags)
Definition: btCollisionDispatcher.h:81
btCollisionDispatcher::m_collisionConfiguration
btCollisionConfiguration * m_collisionConfiguration
Definition: btCollisionDispatcher.h:64
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btNearCallback
void(* btNearCallback)(btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
user can override this nearcallback for collision filtering and more finegrained control over collisi...
Definition: btCollisionDispatcher.h:38
btCollisionDispatcher::getManifoldByIndexInternal
btPersistentManifold * getManifoldByIndexInternal(int index)
Definition: btCollisionDispatcher.h:101
btCollisionDispatcher::registerCollisionCreateFunc
void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
registerCollisionCreateFunc allows registration of custom/alternative collision create functions ...
Definition: btCollisionDispatcher.cpp:64
btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION
Definition: btCollisionDispatcher.h:73
btAlignedObjectArray< btPersistentManifold * >
btManifoldResult.h
btCollisionDispatcher::getCollisionConfiguration
btCollisionConfiguration * getCollisionConfiguration()
Definition: btCollisionDispatcher.h:147
btCollisionDispatcher::m_dispatcherFlags
int m_dispatcherFlags
Definition: btCollisionDispatcher.h:48
size
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition: btDbvt.cpp:52
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
Definition: btCollisionConfiguration.h:26
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs...
Definition: btCollisionDispatcher.h:43
btPersistentManifold.h
btCollisionDispatcher::m_doubleDispatchClosestPoints
btCollisionAlgorithmCreateFunc * m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]
Definition: btCollisionDispatcher.h:62
btCollisionDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)
Definition: btCollisionDispatcher.cpp:315
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btCollisionDispatcher::setNearCallback
void setNearCallback(btNearCallback nearCallback)
Definition: btCollisionDispatcher.h:130
btCollisionDispatcher::getNearCallback
btNearCallback getNearCallback() const
Definition: btCollisionDispatcher.h:135
btCollisionCreateFunc.h
btCollisionDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)
Definition: btCollisionDispatcher.cpp:121
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
Definition: btOverlappingPairCache.h:60
btCollisionDispatcher::setCollisionConfiguration
void setCollisionConfiguration(btCollisionConfiguration *config)
Definition: btCollisionDispatcher.h:157
btCollisionDispatcher::needsCollision
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btCollisionDispatcher.cpp:183
btCollisionDispatcher::CD_STATIC_STATIC_REPORTED
Definition: btCollisionDispatcher.h:71
btCollisionDispatcher::getInternalManifoldPool
virtual const btPoolAllocator * getInternalManifoldPool() const
Definition: btCollisionDispatcher.h:167
btCollisionDispatcher::getDispatcherFlags
int getDispatcherFlags() const
Definition: btCollisionDispatcher.h:76
btCollisionDispatcher::defaultNearCallback
static void defaultNearCallback(btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
Definition: btCollisionDispatcher.cpp:264
btCollisionDispatcher::m_defaultManifoldResult
btManifoldResult m_defaultManifoldResult
Definition: btCollisionDispatcher.h:52
btCollisionDispatcher::m_manifoldsPtr
btAlignedObjectArray< btPersistentManifold * > m_manifoldsPtr
Definition: btCollisionDispatcher.h:50
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
btCollisionDispatcher::clearManifold
virtual void clearManifold(btPersistentManifold *manifold)
Definition: btCollisionDispatcher.cpp:115
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btBroadphaseProxy.h
btCollisionDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)
Definition: btCollisionDispatcher.cpp:78
btCollisionDispatcher::m_nearCallback
btNearCallback m_nearCallback
Definition: btCollisionDispatcher.h:54
MAX_BROADPHASE_COLLISION_TYPES
Definition: btBroadphaseProxy.h:78
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:155
btCollisionDispatcher::getCollisionConfiguration
const btCollisionConfiguration * getCollisionConfiguration() const
Definition: btCollisionDispatcher.h:152
btCollisionDispatcher::btCollisionDispatcher
btCollisionDispatcher(btCollisionConfiguration *collisionConfiguration)
Definition: btCollisionDispatcher.cpp:37
btCollisionDispatcher::getNumManifolds
int getNumManifolds() const
Definition: btCollisionDispatcher.h:91
btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD
Definition: btCollisionDispatcher.h:72
btPoolAllocator
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
Definition: btPoolAllocator.h:24
btCollisionDispatcher::m_doubleDispatchContactPoints
btCollisionAlgorithmCreateFunc * m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]
Definition: btCollisionDispatcher.h:60
btCollisionDispatcher::dispatchAllCollisionPairs
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &dispatchInfo, btDispatcher *dispatcher)
Definition: btCollisionDispatcher.cpp:249
btCollisionDispatcher::m_collisionAlgorithmPoolAllocator
btPoolAllocator * m_collisionAlgorithmPoolAllocator
Definition: btCollisionDispatcher.h:56
btCollisionDispatcher::needsResponse
virtual bool needsResponse(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btCollisionDispatcher.cpp:172
btAlignedObjectArray.h
btCollisionDispatcher::~btCollisionDispatcher
virtual ~btCollisionDispatcher()
Definition: btCollisionDispatcher.cpp:74
btCollisionDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)
Definition: btCollisionDispatcher.cpp:304
btDispatcherInfo
Definition: btDispatcher.h:30
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:75
btCollisionDispatcher::DispatcherFlags
DispatcherFlags
Definition: btCollisionDispatcher.h:69
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
btCollisionDispatcher::m_persistentManifoldPoolAllocator
btPoolAllocator * m_persistentManifoldPoolAllocator
Definition: btCollisionDispatcher.h:58
btCollisionDispatcher::findAlgorithm
btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)
Definition: btCollisionDispatcher.cpp:149
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btCollisionDispatcher::getInternalManifoldPool
virtual btPoolAllocator * getInternalManifoldPool()
Definition: btCollisionDispatcher.h:162
btDispatcher.h
ebtDispatcherQueryType
ebtDispatcherQueryType
Definition: btDispatcher.h:67
btCollisionDispatcher::registerClosestPointsCreateFunc
void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
Definition: btCollisionDispatcher.cpp:69
btCollisionDispatcher::getManifoldByIndexInternal
const btPersistentManifold * getManifoldByIndexInternal(int index) const
Definition: btCollisionDispatcher.h:106
btCollisionDispatcher::getInternalManifoldPointer
btPersistentManifold ** getInternalManifoldPointer()
Definition: btCollisionDispatcher.h:96
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:185