[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef SIMULATION_ISLAND_MANAGER_H |
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| 17 | #define SIMULATION_ISLAND_MANAGER_H |
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| 18 | |
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| 19 | #include "BulletCollision/CollisionDispatch/btUnionFind.h" |
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| 20 | #include "btCollisionCreateFunc.h" |
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| 21 | #include "LinearMath/btAlignedObjectArray.h" |
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| 22 | |
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| 23 | |
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| 24 | class btCollisionObject; |
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| 25 | class btCollisionWorld; |
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| 26 | class btDispatcher; |
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| 27 | class btPersistentManifold; |
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| 28 | |
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| 29 | |
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| 30 | ///SimulationIslandManager creates and handles simulation islands, using btUnionFind |
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| 31 | class btSimulationIslandManager |
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| 32 | { |
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| 33 | btUnionFind m_unionFind; |
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| 34 | |
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| 35 | btAlignedObjectArray<btPersistentManifold*> m_islandmanifold; |
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| 36 | btAlignedObjectArray<btCollisionObject* > m_islandBodies; |
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| 37 | |
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| 38 | |
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| 39 | public: |
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| 40 | btSimulationIslandManager(); |
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| 41 | virtual ~btSimulationIslandManager(); |
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| 42 | |
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| 43 | |
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| 44 | void initUnionFind(int n); |
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| 45 | |
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| 46 | |
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| 47 | btUnionFind& getUnionFind() { return m_unionFind;} |
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| 48 | |
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| 49 | virtual void updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher); |
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| 50 | virtual void storeIslandActivationState(btCollisionWorld* world); |
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| 51 | |
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| 52 | |
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| 53 | void findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld); |
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| 54 | |
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| 55 | |
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| 56 | |
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| 57 | struct IslandCallback |
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| 58 | { |
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| 59 | virtual ~IslandCallback() {}; |
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| 60 | |
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| 61 | virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0; |
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| 62 | }; |
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| 63 | |
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| 64 | void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback); |
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| 65 | |
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| 66 | void buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects); |
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| 67 | |
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| 68 | }; |
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| 69 | |
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| 70 | #endif //SIMULATION_ISLAND_MANAGER_H |
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| 71 | |
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