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_DEFAULT_COLLISION_CONFIGURATION 17 #define BT_DEFAULT_COLLISION_CONFIGURATION 18 19 #include "btCollisionConfiguration.h" 20 class btVoronoiSimplexSolver; 21 class btConvexPenetrationDepthSolver; 22 23 struct btDefaultCollisionConstructionInfo 24 { 25 btPoolAllocator* m_persistentManifoldPool; 26 btPoolAllocator* m_collisionAlgorithmPool; 27 int m_defaultMaxPersistentManifoldPoolSize; 28 int m_defaultMaxCollisionAlgorithmPoolSize; 29 int m_customCollisionAlgorithmMaxElementSize; 30 int m_useEpaPenetrationAlgorithm; 31 btDefaultCollisionConstructionInfobtDefaultCollisionConstructionInfo32 btDefaultCollisionConstructionInfo() 33 :m_persistentManifoldPool(0), 34 m_collisionAlgorithmPool(0), 35 m_defaultMaxPersistentManifoldPoolSize(4096), 36 m_defaultMaxCollisionAlgorithmPoolSize(4096), 37 m_customCollisionAlgorithmMaxElementSize(0), 38 m_useEpaPenetrationAlgorithm(true) 39 { 40 } 41 }; 42 43 44 45 ///btCollisionConfiguration allows to configure Bullet collision detection 46 ///stack allocator, pool memory allocators 47 ///@todo: describe the meaning 48 class btDefaultCollisionConfiguration : public btCollisionConfiguration 49 { 50 51 protected: 52 53 int m_persistentManifoldPoolSize; 54 55 56 btPoolAllocator* m_persistentManifoldPool; 57 bool m_ownsPersistentManifoldPool; 58 59 60 btPoolAllocator* m_collisionAlgorithmPool; 61 bool m_ownsCollisionAlgorithmPool; 62 63 //default simplex/penetration depth solvers 64 btVoronoiSimplexSolver* m_simplexSolver; 65 btConvexPenetrationDepthSolver* m_pdSolver; 66 67 //default CreationFunctions, filling the m_doubleDispatch table 68 btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc; 69 btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc; 70 btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc; 71 btCollisionAlgorithmCreateFunc* m_compoundCreateFunc; 72 btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc; 73 74 btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc; 75 btCollisionAlgorithmCreateFunc* m_emptyCreateFunc; 76 btCollisionAlgorithmCreateFunc* m_sphereSphereCF; 77 btCollisionAlgorithmCreateFunc* m_sphereBoxCF; 78 btCollisionAlgorithmCreateFunc* m_boxSphereCF; 79 80 btCollisionAlgorithmCreateFunc* m_boxBoxCF; 81 btCollisionAlgorithmCreateFunc* m_sphereTriangleCF; 82 btCollisionAlgorithmCreateFunc* m_triangleSphereCF; 83 btCollisionAlgorithmCreateFunc* m_planeConvexCF; 84 btCollisionAlgorithmCreateFunc* m_convexPlaneCF; 85 86 public: 87 88 89 btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo()); 90 91 virtual ~btDefaultCollisionConfiguration(); 92 93 ///memory pools getPersistentManifoldPool()94 virtual btPoolAllocator* getPersistentManifoldPool() 95 { 96 return m_persistentManifoldPool; 97 } 98 getCollisionAlgorithmPool()99 virtual btPoolAllocator* getCollisionAlgorithmPool() 100 { 101 return m_collisionAlgorithmPool; 102 } 103 104 getSimplexSolver()105 virtual btVoronoiSimplexSolver* getSimplexSolver() 106 { 107 return m_simplexSolver; 108 } 109 110 111 virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); 112 113 ///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm. 114 ///By default, this feature is disabled for best performance. 115 ///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature. 116 ///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled 117 ///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first. 118 ///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points. 119 ///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection. 120 void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3); 121 122 void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3); 123 124 }; 125 126 #endif //BT_DEFAULT_COLLISION_CONFIGURATION 127 128