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

Bullet Collision Detection & Physics Library

btCompoundCompoundCollisionAlgorithm.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2013 Erwin Coumans http://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
17 #ifndef BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
18 #define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
19
20 #include "btCompoundCollisionAlgorithm.h"
21
22 #include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
23 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
24 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
25
26 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
27 class btDispatcher;
28 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
29 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
30 #include "LinearMath/btAlignedObjectArray.h"
31 #include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.h"
32 class btDispatcher;
33 class btCollisionObject;
34
35 class btCollisionShape;
36
37 extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
38
40 class btCompoundCompoundCollisionAlgorithm : public btCompoundCollisionAlgorithm
41 {
42 class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
43 btSimplePairArray m_removePairs;
44
45 int m_compoundShapeRevision0; //to keep track of changes, so that childAlgorithm array can be updated
46 int m_compoundShapeRevision1;
47
48 void removeChildAlgorithms();
49
50 // void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
51
52 public:
53 btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
54
55 virtual ~btCompoundCompoundCollisionAlgorithm();
56
57 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
58
59 btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
60
61 virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
62
63 struct CreateFunc : public btCollisionAlgorithmCreateFunc
64 {
65 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
66 {
67 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
68 return new (mem) btCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
69 }
70 };
71
72 struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
73 {
74 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
75 {
76 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
77 return new (mem) btCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
78 }
79 };
80 };
81
82 #endif //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btHashedSimplePairCache
Definition: btHashedSimplePairCache.h:50
btActivatingCollisionAlgorithm.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCompoundCollisionAlgorithm.h
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:409
btShapePairCallback
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
Definition: btCompoundCollisionAlgorithm.h:34
btCompoundCompoundCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btCompoundCompoundCollisionAlgorithm.h:65
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btCompoundCompoundCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:285
btCompoundCompoundCollisionAlgorithm::m_compoundShapeRevision0
int m_compoundShapeRevision0
Definition: btCompoundCompoundCollisionAlgorithm.h:45
btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms
void removeChildAlgorithms()
Definition: btCompoundCompoundCollisionAlgorithm.cpp:71
btCompoundCompoundCollisionAlgorithm::m_removePairs
btSimplePairArray m_removePairs
Definition: btCompoundCompoundCollisionAlgorithm.h:43
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCompoundCompoundCollisionAlgorithm::m_childCollisionAlgorithmCache
class btHashedSimplePairCache * m_childCollisionAlgorithmCache
Definition: btCompoundCompoundCollisionAlgorithm.h:42
gCompoundCompoundChildShapePairCallback
btShapePairCallback gCompoundCompoundChildShapePairCallback
Definition: btCompoundCompoundCollisionAlgorithm.cpp:30
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:27
btCompoundCompoundCollisionAlgorithm::m_compoundShapeRevision1
int m_compoundShapeRevision1
Definition: btCompoundCompoundCollisionAlgorithm.h:46
btCompoundCompoundCollisionAlgorithm::SwappedCreateFunc
Definition: btCompoundCompoundCollisionAlgorithm.h:73
btCompoundCompoundCollisionAlgorithm
btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes
Definition: btCompoundCompoundCollisionAlgorithm.h:41
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCompoundCollisionAlgorithm::manifoldArray
btManifoldArray manifoldArray
Definition: btCompoundCollisionAlgorithm.h:41
btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm
btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:32
btCompoundCompoundCollisionAlgorithm::CreateFunc
Definition: btCompoundCompoundCollisionAlgorithm.h:64
btCompoundCollisionAlgorithm
btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision s...
Definition: btCompoundCollisionAlgorithm.h:39
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btBroadphaseInterface.h
btDispatcherInfo
Definition: btDispatcher.h:31
btAlignedObjectArray< btSimplePair >
btDispatcher.h
btCollisionCreateFunc.h
btPersistentManifold.h
btBroadphaseProxy.h
btCompoundCompoundCollisionAlgorithm::SwappedCreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btCompoundCompoundCollisionAlgorithm.h:74
btCompoundCompoundCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:58
btAlignedObjectArray.h
btHashedSimplePairCache.h
btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm
virtual ~btCompoundCompoundCollisionAlgorithm()
Definition: btCompoundCompoundCollisionAlgorithm.cpp:51