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 #ifndef BT_DISPATCHER_H 17 #define BT_DISPATCHER_H 18 #include "LinearMath/btScalar.h" 19 20 class btCollisionAlgorithm; 21 struct btBroadphaseProxy; 22 class btRigidBody; 23 class btCollisionObject; 24 class btOverlappingPairCache; 25 struct btCollisionObjectWrapper; 26 27 class btPersistentManifold; 28 class btPoolAllocator; 29 30 struct btDispatcherInfo 31 { 32 enum DispatchFunc 33 { 34 DISPATCH_DISCRETE = 1, 35 DISPATCH_CONTINUOUS 36 }; btDispatcherInfobtDispatcherInfo37 btDispatcherInfo() 38 :m_timeStep(btScalar(0.)), 39 m_stepCount(0), 40 m_dispatchFunc(DISPATCH_DISCRETE), 41 m_timeOfImpact(btScalar(1.)), 42 m_useContinuous(true), 43 m_debugDraw(0), 44 m_enableSatConvex(false), 45 m_enableSPU(true), 46 m_useEpa(true), 47 m_allowedCcdPenetration(btScalar(0.04)), 48 m_useConvexConservativeDistanceUtil(false), 49 m_convexConservativeDistanceThreshold(0.0f) 50 { 51 52 } 53 btScalar m_timeStep; 54 int m_stepCount; 55 int m_dispatchFunc; 56 mutable btScalar m_timeOfImpact; 57 bool m_useContinuous; 58 class btIDebugDraw* m_debugDraw; 59 bool m_enableSatConvex; 60 bool m_enableSPU; 61 bool m_useEpa; 62 btScalar m_allowedCcdPenetration; 63 bool m_useConvexConservativeDistanceUtil; 64 btScalar m_convexConservativeDistanceThreshold; 65 }; 66 67 ///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs. 68 ///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic). 69 class btDispatcher 70 { 71 72 73 public: 74 virtual ~btDispatcher() ; 75 76 virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold=0) = 0; 77 78 virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0; 79 80 virtual void releaseManifold(btPersistentManifold* manifold)=0; 81 82 virtual void clearManifold(btPersistentManifold* manifold)=0; 83 84 virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0; 85 86 virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0; 87 88 virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) =0; 89 90 virtual int getNumManifolds() const = 0; 91 92 virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0; 93 94 virtual btPersistentManifold** getInternalManifoldPointer() = 0; 95 96 virtual btPoolAllocator* getInternalManifoldPool() = 0; 97 98 virtual const btPoolAllocator* getInternalManifoldPool() const = 0; 99 100 virtual void* allocateCollisionAlgorithm(int size) = 0; 101 102 virtual void freeCollisionAlgorithm(void* ptr) = 0; 103 104 }; 105 106 107 #endif //BT_DISPATCHER_H 108