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source: code/branches/physics/src/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h @ 1972

Last change on this file since 1972 was 1963, checked in by rgrieder, 16 years ago

Added Bullet physics engine.

  • Property svn:eol-style set to native
File size: 2.4 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 COLLISION_ALGORITHM_H
17#define COLLISION_ALGORITHM_H
18
19#include "LinearMath/btScalar.h"
20#include "LinearMath/btAlignedObjectArray.h"
21
22struct btBroadphaseProxy;
23class btDispatcher;
24class btManifoldResult;
25class btCollisionObject;
26struct btDispatcherInfo;
27class   btPersistentManifold;
28
29typedef btAlignedObjectArray<btPersistentManifold*>     btManifoldArray;
30
31struct btCollisionAlgorithmConstructionInfo
32{
33        btCollisionAlgorithmConstructionInfo()
34                :m_dispatcher1(0),
35                m_manifold(0)
36        {
37        }
38        btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
39                :m_dispatcher1(dispatcher)
40        {
41                (void)temp;
42        }
43
44        btDispatcher*   m_dispatcher1;
45        btPersistentManifold*   m_manifold;
46
47        int     getDispatcherId();
48
49};
50
51
52///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
53///It is persistent over frames
54class btCollisionAlgorithm
55{
56
57protected:
58
59        btDispatcher*   m_dispatcher;
60
61protected:
62        int     getDispatcherId();
63       
64public:
65
66        btCollisionAlgorithm() {};
67
68        btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
69
70        virtual ~btCollisionAlgorithm() {};
71
72        virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
73
74        virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
75
76        virtual void    getAllContactManifolds(btManifoldArray& manifoldArray) = 0;
77};
78
79
80#endif //COLLISION_ALGORITHM_H
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