Bullet Collision Detection & Physics Library
btCompoundCollisionAlgorithm.h
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 
15 */
16 
17 #ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
18 #define BT_COMPOUND_COLLISION_ALGORITHM_H
19 
23 
25 class btDispatcher;
27 #include "btCollisionCreateFunc.h"
30 class btDispatcher;
31 class btCollisionObject;
32 
33 class btCollisionShape;
34 typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
36 
39 {
42 
43 protected:
46 
49 
50  int m_compoundShapeRevision; //to keep track of changes, so that childAlgorithm array can be updated
51 
52  void removeChildAlgorithms();
53 
54  void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
55 
56 public:
58 
60 
62  {
64  }
65 
66  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
67 
69 
71  {
72  int i;
73  for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
74  {
76  m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
77  }
78  }
79 
81  {
83  {
85  return new (mem) btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
86  }
87  };
88 
90  {
92  {
94  return new (mem) btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
95  }
96  };
97 };
98 
99 #endif //BT_COMPOUND_COLLISION_ALGORITHM_H
btShapePairCallback gCompoundChildShapePairCallback
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
int size() const
return the number of elements in the array
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
btCollisionObject can be used to manage collision detection objects.
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision s...
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
class btPersistentManifold * m_sharedManifold
btAlignedObjectArray< btCollisionAlgorithm * > m_childCollisionAlgorithms
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void preallocateChildAlgorithms(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
btCollisionAlgorithm * getChildAlgorithm(int n) const
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult is a helper class to manage contact results.
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)