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

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btCollisionAlgorithm.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_COLLISION_ALGORITHM_H
17#define BT_COLLISION_ALGORITHM_H
18
19#include "LinearMath/btScalar.h"
20#include "LinearMath/btAlignedObjectArray.h"
21
22struct btBroadphaseProxy;
23class btDispatcher;
24class btManifoldResult;
25class btCollisionObject;
26struct btCollisionObjectWrapper;
27struct btDispatcherInfo;
28class btPersistentManifold;
29
30 typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray;
31
32 struct btCollisionAlgorithmConstructionInfo
33{
34 btCollisionAlgorithmConstructionInfo()
35 : m_dispatcher1(0),
36 m_manifold(0)
37 {
38 }
39 btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher, int temp)
40 : m_dispatcher1(dispatcher)
41 {
42 (void)temp;
43 }
44
45 btDispatcher* m_dispatcher1;
46 btPersistentManifold* m_manifold;
47
48 // int getDispatcherId();
49};
50
53 class btCollisionAlgorithm
54{
55protected:
56 btDispatcher* m_dispatcher;
57
58protected:
59 // int getDispatcherId();
60
61public:
62 btCollisionAlgorithm(){};
63
64 btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
65
66 virtual ~btCollisionAlgorithm(){};
67
68 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
69
70 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
71
72 virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0;
73};
74
75#endif //BT_COLLISION_ALGORITHM_H
btAlignedObjectArray.h
btManifoldArray
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
Definition: btCollisionAlgorithm.h:30
btScalar.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:56
btCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)=0
btCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btCollisionAlgorithm::~btCollisionAlgorithm
virtual ~btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:66
btCollisionAlgorithm::btCollisionAlgorithm
btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:62
btCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:86
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::btCollisionAlgorithmConstructionInfo
btCollisionAlgorithmConstructionInfo()
Definition: btCollisionAlgorithm.h:34
btCollisionAlgorithmConstructionInfo::btCollisionAlgorithmConstructionInfo
btCollisionAlgorithmConstructionInfo(btDispatcher *dispatcher, int temp)
Definition: btCollisionAlgorithm.h:39
btCollisionAlgorithmConstructionInfo::m_manifold
btPersistentManifold * m_manifold
Definition: btCollisionAlgorithm.h:46
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btDispatcherInfo
Definition: btDispatcher.h:31