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
btCollisionDispatcher::m_persistentManifoldPoolAllocator
btPoolAllocator * m_persistentManifoldPoolAllocator
Definition: btCollisionDispatcher.h:55
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btNearCallback
void(* btNearCallback)(btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
user can override this nearcallback for collision filtering and more finegrained control over collisi...
Definition: btCollisionDispatcher.h:38
btCollisionDispatcher::getNearCallback
btNearCallback getNearCallback() const
Definition: btCollisionDispatcher.h:129
btCollisionDispatcher::getManifoldByIndexInternal
btPersistentManifold * getManifoldByIndexInternal(int index)
Definition: btCollisionDispatcher.h:96
btCollisionDispatcher::m_manifoldsPtr
btAlignedObjectArray< btPersistentManifold * > m_manifoldsPtr
Definition: btCollisionDispatcher.h:47
btCollisionDispatcher::getNumManifolds
int getNumManifolds() const
Definition: btCollisionDispatcher.h:86
btCollisionDispatcher::m_doubleDispatchClosestPoints
btCollisionAlgorithmCreateFunc * m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]
Definition: btCollisionDispatcher.h:59
btCollisionDispatcher::m_collisionConfiguration
btCollisionConfiguration * m_collisionConfiguration
Definition: btCollisionDispatcher.h:61
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btCollisionDispatcher::clearManifold
virtual void clearManifold(btPersistentManifold *manifold)
Definition: btCollisionDispatcher.cpp:101
btCollisionDispatcher::m_collisionAlgorithmPoolAllocator
btPoolAllocator * m_collisionAlgorithmPoolAllocator
Definition: btCollisionDispatcher.h:53
btCollisionDispatcher::m_defaultManifoldResult
btManifoldResult m_defaultManifoldResult
Definition: btCollisionDispatcher.h:49
ebtDispatcherQueryType
ebtDispatcherQueryType
Definition: btDispatcher.h:68
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
Definition: btCollisionDispatcher.h:42
btCollisionDispatcher::getCollisionConfiguration
const btCollisionConfiguration * getCollisionConfiguration() const
Definition: btCollisionDispatcher.h:146
btCollisionDispatcher::CD_STATIC_STATIC_REPORTED
Definition: btCollisionDispatcher.h:66
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btCollisionDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)
Definition: btCollisionDispatcher.cpp:279
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:47
btCollisionDispatcher::m_doubleDispatchContactPoints
btCollisionAlgorithmCreateFunc * m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]
Definition: btCollisionDispatcher.h:57
btCollisionDispatcher::DispatcherFlags
DispatcherFlags
Definition: btCollisionDispatcher.h:64
btCollisionDispatcher::findAlgorithm
btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)
Definition: btCollisionDispatcher.cpp:128
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:50
btCollisionDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)
Definition: btCollisionDispatcher.cpp:68
btCollisionDispatcher::getCollisionConfiguration
btCollisionConfiguration * getCollisionConfiguration()
Definition: btCollisionDispatcher.h:141
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btManifoldResult.h
btCollisionDispatcher::getInternalManifoldPointer
btPersistentManifold ** getInternalManifoldPointer()
Definition: btCollisionDispatcher.h:91
btCollisionDispatcher::setNearCallback
void setNearCallback(btNearCallback nearCallback)
Definition: btCollisionDispatcher.h:124
MAX_BROADPHASE_COLLISION_TYPES
Definition: btBroadphaseProxy.h:78
btCollisionDispatcher::registerCollisionCreateFunc
void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
registerCollisionCreateFunc allows registration of custom/alternative collision create functions
Definition: btCollisionDispatcher.cpp:54
btDispatcherInfo
Definition: btDispatcher.h:30
btAlignedObjectArray< btPersistentManifold * >
btCollisionDispatcher::btCollisionDispatcher
btCollisionDispatcher(btCollisionConfiguration *collisionConfiguration)
Definition: btCollisionDispatcher.cpp:32
btCollisionDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)
Definition: btCollisionDispatcher.cpp:106
btDispatcher.h
btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD
Definition: btCollisionDispatcher.h:67
btCollisionCreateFunc.h
btCollisionDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)
Definition: btCollisionDispatcher.cpp:268
btPersistentManifold.h
btBroadphaseProxy.h
btCollisionDispatcher::getInternalManifoldPool
virtual const btPoolAllocator * getInternalManifoldPool() const
Definition: btCollisionDispatcher.h:161
btCollisionDispatcher::~btCollisionDispatcher
virtual ~btCollisionDispatcher()
Definition: btCollisionDispatcher.cpp:64
btCollisionDispatcher::m_dispatcherFlags
int m_dispatcherFlags
Definition: btCollisionDispatcher.h:45
btCollisionDispatcher::setDispatcherFlags
void setDispatcherFlags(int flags)
Definition: btCollisionDispatcher.h:76
btCollisionDispatcher::dispatchAllCollisionPairs
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &dispatchInfo, btDispatcher *dispatcher)
Definition: btCollisionDispatcher.cpp:216
btCollisionDispatcher::registerClosestPointsCreateFunc
void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
Definition: btCollisionDispatcher.cpp:59
btPoolAllocator
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
Definition: btPoolAllocator.h:23
btCollisionDispatcher::needsResponse
virtual bool needsResponse(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btCollisionDispatcher.cpp:147
btAlignedObjectArray.h
btCollisionDispatcher::defaultNearCallback
static void defaultNearCallback(btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
Definition: btCollisionDispatcher.cpp:231
btCollisionDispatcher::getDispatcherFlags
int getDispatcherFlags() const
Definition: btCollisionDispatcher.h:71
btCollisionDispatcher::getInternalManifoldPool
virtual btPoolAllocator * getInternalManifoldPool()
Definition: btCollisionDispatcher.h:156
btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION
Definition: btCollisionDispatcher.h:68
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:26
btCollisionDispatcher::setCollisionConfiguration
void setCollisionConfiguration(btCollisionConfiguration *config)
Definition: btCollisionDispatcher.h:151
size
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition: btDbvt.cpp:52
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:177
btCollisionDispatcher::getManifoldByIndexInternal
const btPersistentManifold * getManifoldByIndexInternal(int index) const
Definition: btCollisionDispatcher.h:101
btCollisionDispatcher::m_nearCallback
btNearCallback m_nearCallback
Definition: btCollisionDispatcher.h:51
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:149
btCollisionDispatcher::needsCollision
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btCollisionDispatcher.cpp:158