Bullet Collision Detection & Physics Library
btCollisionDispatcher.h
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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_COLLISION__DISPATCHER_H
17 #define BT_COLLISION__DISPATCHER_H
18 
21 
23 
26 
27 class btIDebugDraw;
29 class btPoolAllocator;
31 
32 #include "btCollisionCreateFunc.h"
33 
34 #define USE_DISPATCH_REGISTRY_ARRAY 1
35 
38 typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
39 
43 {
44 protected:
46 
48 
50 
52 
54 
56 
58 
60 
62 
63 public:
65  {
69  };
70 
71  int getDispatcherFlags() const
72  {
73  return m_dispatcherFlags;
74  }
75 
76  void setDispatcherFlags(int flags)
77  {
78  m_dispatcherFlags = flags;
79  }
80 
82  void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
83 
84  void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
85 
86  int getNumManifolds() const
87  {
88  return int(m_manifoldsPtr.size());
89  }
90 
92  {
93  return m_manifoldsPtr.size() ? &m_manifoldsPtr[0] : 0;
94  }
95 
97  {
98  return m_manifoldsPtr[index];
99  }
100 
102  {
103  return m_manifoldsPtr[index];
104  }
105 
106  btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration);
107 
108  virtual ~btCollisionDispatcher();
109 
111 
112  virtual void releaseManifold(btPersistentManifold* manifold);
113 
114  virtual void clearManifold(btPersistentManifold* manifold);
115 
117 
118  virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
119 
120  virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1);
121 
122  virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher);
123 
124  void setNearCallback(btNearCallback nearCallback)
125  {
126  m_nearCallback = nearCallback;
127  }
128 
130  {
131  return m_nearCallback;
132  }
133 
134  //by default, Bullet will use this near callback
135  static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
136 
137  virtual void* allocateCollisionAlgorithm(int size);
138 
139  virtual void freeCollisionAlgorithm(void* ptr);
140 
142  {
144  }
145 
147  {
149  }
150 
152  {
153  m_collisionConfiguration = config;
154  }
155 
157  {
159  }
160 
162  {
164  }
165 };
166 
167 #endif //BT_COLLISION__DISPATCHER_H
void setDispatcherFlags(int flags)
btCollisionConfiguration * m_collisionConfiguration
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
void(* btNearCallback)(btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
user can override this nearcallback for collision filtering and more finegrained control over collisi...
btPersistentManifold * getManifoldByIndexInternal(int index)
void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
registerCollisionCreateFunc allows registration of custom/alternative collision create functions ...
btCollisionConfiguration * getCollisionConfiguration()
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition: btDbvt.cpp:52
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs...
btCollisionAlgorithmCreateFunc * m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]
virtual void freeCollisionAlgorithm(void *ptr)
btManifoldResult is a helper class to manage contact results.
void setNearCallback(btNearCallback nearCallback)
btNearCallback getNearCallback() const
virtual void releaseManifold(btPersistentManifold *manifold)
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
void setCollisionConfiguration(btCollisionConfiguration *config)
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)
virtual const btPoolAllocator * getInternalManifoldPool() const
static void defaultNearCallback(btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
btManifoldResult m_defaultManifoldResult
btAlignedObjectArray< btPersistentManifold * > m_manifoldsPtr
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
btCollisionObject can be used to manage collision detection objects.
virtual void clearManifold(btPersistentManifold *manifold)
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:26
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)
int size() const
return the number of elements in the array
const btCollisionConfiguration * getCollisionConfiguration() const
btCollisionDispatcher(btCollisionConfiguration *collisionConfiguration)
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
btCollisionAlgorithmCreateFunc * m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &dispatchInfo, btDispatcher *dispatcher)
btPoolAllocator * m_collisionAlgorithmPoolAllocator
virtual bool needsResponse(const btCollisionObject *body0, const btCollisionObject *body1)
virtual void * allocateCollisionAlgorithm(int size)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
btPoolAllocator * m_persistentManifoldPoolAllocator
btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)
virtual btPoolAllocator * getInternalManifoldPool()
ebtDispatcherQueryType
Definition: btDispatcher.h:68
void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
const btPersistentManifold * getManifoldByIndexInternal(int index) const
btPersistentManifold ** getInternalManifoldPointer()
The btBroadphasePair class contains a pair of aabb-overlapping objects.