Bullet Collision Detection & Physics Library
btDispatcher.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_DISPATCHER_H
17 #define BT_DISPATCHER_H
18 #include "LinearMath/btScalar.h"
19 
21 struct btBroadphaseProxy;
22 class btRigidBody;
23 class btCollisionObject;
26 
28 class btPoolAllocator;
29 
31 {
33  {
36  };
38  : m_timeStep(btScalar(0.)),
39  m_stepCount(0),
42  m_useContinuous(true),
43  m_debugDraw(0),
44  m_enableSatConvex(false),
45  m_enableSPU(true),
46  m_useEpa(true),
51  {
52  }
61  bool m_useEpa;
66 };
67 
69 {
72 };
73 
77 {
78 public:
79  virtual ~btDispatcher();
80 
81  virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType) = 0;
82 
84 
85  virtual void releaseManifold(btPersistentManifold* manifold) = 0;
86 
87  virtual void clearManifold(btPersistentManifold* manifold) = 0;
88 
89  virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
90 
91  virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
92 
93  virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher) = 0;
94 
95  virtual int getNumManifolds() const = 0;
96 
97  virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
98 
100 
102 
103  virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
104 
105  virtual void* allocateCollisionAlgorithm(int size) = 0;
106 
107  virtual void freeCollisionAlgorithm(void* ptr) = 0;
108 };
109 
110 #endif //BT_DISPATCHER_H
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:84
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
BT_CLOSEST_POINT_ALGORITHMS
Definition: btDispatcher.h:71
btDispatcher::getInternalManifoldPointer
virtual btPersistentManifold ** getInternalManifoldPointer()=0
btDispatcherInfo::m_useConvexConservativeDistanceUtil
bool m_useConvexConservativeDistanceUtil
Definition: btDispatcher.h:63
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btDispatcherInfo::DISPATCH_DISCRETE
Definition: btDispatcher.h:34
btDispatcher::getNumManifolds
virtual int getNumManifolds() const =0
btDispatcherInfo::m_convexConservativeDistanceThreshold
btScalar m_convexConservativeDistanceThreshold
Definition: btDispatcher.h:64
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btDispatcherInfo::m_dispatchFunc
int m_dispatchFunc
Definition: btDispatcher.h:55
BT_CONTACT_POINT_ALGORITHMS
Definition: btDispatcher.h:70
btScalar.h
ebtDispatcherQueryType
ebtDispatcherQueryType
Definition: btDispatcher.h:68
btDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)=0
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
btDispatcher::needsCollision
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)=0
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btDispatcher::getInternalManifoldPool
virtual btPoolAllocator * getInternalManifoldPool()=0
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btDispatcherInfo::DISPATCH_CONTINUOUS
Definition: btDispatcher.h:35
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btDispatcherInfo::m_stepCount
int m_stepCount
Definition: btDispatcher.h:54
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:50
btDispatcherInfo::DispatchFunc
DispatchFunc
Definition: btDispatcher.h:32
btDispatcherInfo::m_allowedCcdPenetration
btScalar m_allowedCcdPenetration
Definition: btDispatcher.h:62
btDispatcher::needsResponse
virtual bool needsResponse(const btCollisionObject *body0, const btCollisionObject *body1)=0
btDispatcher::~btDispatcher
virtual ~btDispatcher()
Definition: btDispatcher.cpp:18
btDispatcherInfo::m_timeOfImpact
btScalar m_timeOfImpact
Definition: btDispatcher.h:56
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btDispatcher::findAlgorithm
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
btDispatcherInfo::m_deterministicOverlappingPairs
bool m_deterministicOverlappingPairs
Definition: btDispatcher.h:65
btDispatcherInfo
Definition: btDispatcher.h:30
btDispatcherInfo::m_useContinuous
bool m_useContinuous
Definition: btDispatcher.h:57
btDispatcherInfo::m_enableSPU
bool m_enableSPU
Definition: btDispatcher.h:60
btDispatcher::dispatchAllCollisionPairs
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &dispatchInfo, btDispatcher *dispatcher)=0
btDispatcher::clearManifold
virtual void clearManifold(btPersistentManifold *manifold)=0
btDispatcherInfo::m_useEpa
bool m_useEpa
Definition: btDispatcher.h:61
btPoolAllocator
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
Definition: btPoolAllocator.h:23
btDispatcherInfo::m_timeStep
btScalar m_timeStep
Definition: btDispatcher.h:53
size
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition: btDbvt.cpp:52
btDispatcher::getManifoldByIndexInternal
virtual btPersistentManifold * getManifoldByIndexInternal(int index)=0
btDispatcherInfo::m_enableSatConvex
bool m_enableSatConvex
Definition: btDispatcher.h:59
btDispatcherInfo::btDispatcherInfo
btDispatcherInfo()
Definition: btDispatcher.h:37