1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
|
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_COLLISION__DISPATCHER_H
#define BT_COLLISION__DISPATCHER_H
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/btAlignedObjectArray.h"
class btIDebugDraw;
class btOverlappingPairCache;
class btPoolAllocator;
class btCollisionConfiguration;
#include "btCollisionCreateFunc.h"
#define USE_DISPATCH_REGISTRY_ARRAY 1
class btCollisionDispatcher;
///user can override this nearcallback for collision filtering and more finegrained control over collision detection
typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
///Time of Impact, Closest Points and Penetration Depth.
class btCollisionDispatcher : public btDispatcher
{
protected:
int m_dispatcherFlags;
btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
btPoolAllocator* m_collisionAlgorithmPoolAllocator;
btPoolAllocator* m_persistentManifoldPoolAllocator;
btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionConfiguration* m_collisionConfiguration;
public:
enum DispatcherFlags
{
CD_STATIC_STATIC_REPORTED = 1,
CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
};
int getDispatcherFlags() const
{
return m_dispatcherFlags;
}
void setDispatcherFlags(int flags)
{
m_dispatcherFlags = flags;
}
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc);
int getNumManifolds() const
{
return int( m_manifoldsPtr.size());
}
btPersistentManifold** getInternalManifoldPointer()
{
return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0;
}
btPersistentManifold* getManifoldByIndexInternal(int index)
{
return m_manifoldsPtr[index];
}
const btPersistentManifold* getManifoldByIndexInternal(int index) const
{
return m_manifoldsPtr[index];
}
btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
virtual ~btCollisionDispatcher();
virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1);
virtual void releaseManifold(btPersistentManifold* manifold);
virtual void clearManifold(btPersistentManifold* manifold);
btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType);
virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1);
virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1);
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
void setNearCallback(btNearCallback nearCallback)
{
m_nearCallback = nearCallback;
}
btNearCallback getNearCallback() const
{
return m_nearCallback;
}
//by default, Bullet will use this near callback
static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
virtual void* allocateCollisionAlgorithm(int size);
virtual void freeCollisionAlgorithm(void* ptr);
btCollisionConfiguration* getCollisionConfiguration()
{
return m_collisionConfiguration;
}
const btCollisionConfiguration* getCollisionConfiguration() const
{
return m_collisionConfiguration;
}
void setCollisionConfiguration(btCollisionConfiguration* config)
{
m_collisionConfiguration = config;
}
virtual btPoolAllocator* getInternalManifoldPool()
{
return m_persistentManifoldPoolAllocator;
}
virtual const btPoolAllocator* getInternalManifoldPool() const
{
return m_persistentManifoldPoolAllocator;
}
};
#endif //BT_COLLISION__DISPATCHER_H
|