Bullet Collision Detection & Physics Library
btDefaultCollisionConfiguration.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_DEFAULT_COLLISION_CONFIGURATION
17 #define BT_DEFAULT_COLLISION_CONFIGURATION
18 
22 
24 {
31 
39  {
40  }
41 };
42 
47 {
48 protected:
50 
53 
56 
57  //default penetration depth solver
59 
60  //default CreationFunctions, filling the m_doubleDispatch table
66 
72 
78 
79 public:
81 
83 
86  {
88  }
89 
91  {
93  }
94 
95  virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
96 
97  virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
98 
106  void setConvexConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
107 
108  void setPlaneConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
109 };
110 
111 #endif //BT_DEFAULT_COLLISION_CONFIGURATION
btCollisionAlgorithmCreateFunc * m_convexPlaneCF
void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)
Use this method to allow to generate multiple contact points between at once, between two objects usi...
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
btConvexPenetrationDepthSolver * m_pdSolver
btCollisionAlgorithmCreateFunc * m_boxBoxCF
btCollisionAlgorithmCreateFunc * m_triangleSphereCF
virtual btCollisionAlgorithmCreateFunc * getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
btCollisionConfiguration allows to configure Bullet collision detection stack allocator, pool memory allocators
btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo &constructionInfo=btDefaultCollisionConstructionInfo())
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
btCollisionAlgorithmCreateFunc * m_swappedConvexConcaveCreateFunc
virtual btPoolAllocator * getCollisionAlgorithmPool()
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
virtual btCollisionAlgorithmCreateFunc * getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1)
btCollisionAlgorithmCreateFunc * m_emptyCreateFunc
void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)
btCollisionAlgorithmCreateFunc * m_sphereTriangleCF
btCollisionAlgorithmCreateFunc * m_sphereSphereCF
btCollisionAlgorithmCreateFunc * m_planeConvexCF
btCollisionAlgorithmCreateFunc * m_compoundCreateFunc
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
btCollisionAlgorithmCreateFunc * m_boxSphereCF
btCollisionAlgorithmCreateFunc * m_compoundCompoundCreateFunc
btCollisionAlgorithmCreateFunc * m_convexConcaveCreateFunc
btCollisionAlgorithmCreateFunc * m_sphereBoxCF
virtual btPoolAllocator * getPersistentManifoldPool()
memory pools
btCollisionAlgorithmCreateFunc * m_convexConvexCreateFunc
btCollisionAlgorithmCreateFunc * m_swappedCompoundCreateFunc