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source: code/branches/ScriptableController_HS17/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h @ 12171

Last change on this file since 12171 was 10726, checked in by landauf, 9 years ago

fixed alignment warnings in MSVC14 (caused by SSE instructions in bullet)

  • Property svn:eol-style set to native
File size: 5.1 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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__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
27class btIDebugDraw;
28class btOverlappingPairCache;
29class btPoolAllocator;
30class btCollisionConfiguration;
31
32#include "btCollisionCreateFunc.h"
33
34#define USE_DISPATCH_REGISTRY_ARRAY 1
35
36class btCollisionDispatcher;
37///user can override this nearcallback for collision filtering and more finegrained control over collision detection
38typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
39
40
41///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
42///Time of Impact, Closest Points and Penetration Depth.
43class btCollisionDispatcher : public btDispatcher
44{
45
46protected:
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_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
61
62        btCollisionConfiguration*       m_collisionConfiguration;
63
64
65public:
66        BT_DECLARE_ALIGNED_ALLOCATOR();
67
68        enum DispatcherFlags
69        {
70                CD_STATIC_STATIC_REPORTED = 1,
71                CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
72                CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
73        };
74
75        int     getDispatcherFlags() const
76        {
77                return m_dispatcherFlags;
78        }
79
80        void    setDispatcherFlags(int flags)
81        {
82                m_dispatcherFlags = flags;
83        }
84
85        ///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
86        void    registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
87
88        int     getNumManifolds() const
89        { 
90                return int( m_manifoldsPtr.size());
91        }
92
93        btPersistentManifold**  getInternalManifoldPointer()
94        {
95                return &m_manifoldsPtr[0];
96        }
97
98         btPersistentManifold* getManifoldByIndexInternal(int index)
99        {
100                return m_manifoldsPtr[index];
101        }
102
103         const btPersistentManifold* getManifoldByIndexInternal(int index) const
104        {
105                return m_manifoldsPtr[index];
106        }
107
108        btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
109
110        virtual ~btCollisionDispatcher();
111
112        virtual btPersistentManifold*   getNewManifold(void* b0,void* b1);
113       
114        virtual void releaseManifold(btPersistentManifold* manifold);
115
116
117        virtual void clearManifold(btPersistentManifold* manifold);
118
119                       
120        btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
121               
122        virtual bool    needsCollision(btCollisionObject* body0,btCollisionObject* body1);
123       
124        virtual bool    needsResponse(btCollisionObject* body0,btCollisionObject* body1);
125       
126        virtual void    dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
127
128        void    setNearCallback(btNearCallback  nearCallback)
129        {
130                m_nearCallback = nearCallback; 
131        }
132
133        btNearCallback  getNearCallback() const
134        {
135                return m_nearCallback;
136        }
137
138        //by default, Bullet will use this near callback
139        static void  defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
140
141        virtual void* allocateCollisionAlgorithm(int size);
142
143        virtual void freeCollisionAlgorithm(void* ptr);
144
145        btCollisionConfiguration*       getCollisionConfiguration()
146        {
147                return m_collisionConfiguration;
148        }
149
150        const btCollisionConfiguration* getCollisionConfiguration() const
151        {
152                return m_collisionConfiguration;
153        }
154
155        void    setCollisionConfiguration(btCollisionConfiguration* config)
156        {
157                m_collisionConfiguration = config;
158        }
159
160        virtual btPoolAllocator*        getInternalManifoldPool()
161        {
162                return m_persistentManifoldPoolAllocator;
163        }
164
165        virtual const btPoolAllocator*  getInternalManifoldPool() const
166        {
167                return m_persistentManifoldPoolAllocator;
168        }
169
170};
171
172#endif //BT_COLLISION__DISPATCHER_H
173
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