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

Bullet Collision Detection & Physics Library

btCompoundCompoundCollisionAlgorithm.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2013 Erwin Coumans http://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
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"
27class btDispatcher;
28#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
29#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
30#include "LinearMath/btAlignedObjectArray.h"
31#include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.h"
32class btDispatcher;
33class btCollisionObject;
34
35class btCollisionShape;
36
37extern 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
52public:
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
btActivatingCollisionAlgorithm.h
btAlignedObjectArray.h
btBroadphaseInterface.h
btBroadphaseProxy.h
btManifoldArray
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
Definition btCollisionAlgorithm.h:30
btCollisionCreateFunc.h
btCompoundCollisionAlgorithm.h
btShapePairCallback
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
Definition btCompoundCollisionAlgorithm.h:34
gCompoundCompoundChildShapePairCallback
btShapePairCallback gCompoundCompoundChildShapePairCallback
Definition btCompoundCompoundCollisionAlgorithm.cpp:30
btDispatcher.h
btHashedSimplePairCache.h
btSimplePairArray
btAlignedObjectArray< btSimplePair > btSimplePairArray
Definition btHashedSimplePairCache.h:40
btPersistentManifold.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btCollisionAlgorithm::btCollisionAlgorithm
btCollisionAlgorithm()
Definition btCollisionAlgorithm.h:62
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition btCollisionShape.h:28
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm
btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition btCompoundCollisionAlgorithm.cpp:28
btCompoundCollisionAlgorithm::manifoldArray
btManifoldArray manifoldArray
Definition btCompoundCollisionAlgorithm.h:41
btCompoundCompoundCollisionAlgorithm::m_childCollisionAlgorithmCache
class btHashedSimplePairCache * m_childCollisionAlgorithmCache
Definition btCompoundCompoundCollisionAlgorithm.h:42
btCompoundCompoundCollisionAlgorithm::m_compoundShapeRevision0
int m_compoundShapeRevision0
Definition btCompoundCompoundCollisionAlgorithm.h:45
btCompoundCompoundCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btCompoundCompoundCollisionAlgorithm.cpp:285
btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btCompoundCompoundCollisionAlgorithm.cpp:409
btCompoundCompoundCollisionAlgorithm::m_compoundShapeRevision1
int m_compoundShapeRevision1
Definition btCompoundCompoundCollisionAlgorithm.h:46
btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm
btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition btCompoundCompoundCollisionAlgorithm.cpp:32
btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm
virtual ~btCompoundCompoundCollisionAlgorithm()
Definition btCompoundCompoundCollisionAlgorithm.cpp:51
btCompoundCompoundCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition btCompoundCompoundCollisionAlgorithm.cpp:58
btCompoundCompoundCollisionAlgorithm::m_removePairs
btSimplePairArray m_removePairs
Definition btCompoundCompoundCollisionAlgorithm.h:43
btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms
void removeChildAlgorithms()
Definition btCompoundCompoundCollisionAlgorithm.cpp:71
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition btDispatcher.h:77
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btHashedSimplePairCache
Definition btHashedSimplePairCache.h:50
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition btManifoldResult.h:48
btCollisionAlgorithmConstructionInfo
Definition btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition btCollisionAlgorithm.h:45
btCollisionAlgorithmCreateFunc::btCollisionAlgorithmCreateFunc
btCollisionAlgorithmCreateFunc()
Definition btCollisionCreateFunc.h:30
btCollisionObjectWrapper
Definition btCollisionObjectWrapper.h:18
btCompoundCompoundCollisionAlgorithm::CreateFunc
Definition btCompoundCompoundCollisionAlgorithm.h:64
btCompoundCompoundCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition btCompoundCompoundCollisionAlgorithm.h:65
btCompoundCompoundCollisionAlgorithm::SwappedCreateFunc
Definition btCompoundCompoundCollisionAlgorithm.h:73
btCompoundCompoundCollisionAlgorithm::SwappedCreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition btCompoundCompoundCollisionAlgorithm.h:74
btDispatcherInfo
Definition btDispatcher.h:31