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 19 #include "BulletCollision/BroadphaseCollision/btDispatcher.h" 20 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" 21 22 #include "BulletCollision/CollisionDispatch/btManifoldResult.h" 23 24 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" 25 #include "LinearMath/btAlignedObjectArray.h" 26 27 class btIDebugDraw; 28 class btOverlappingPairCache; 29 class btPoolAllocator; 30 class btCollisionConfiguration; 31 32 #include "btCollisionCreateFunc.h" 33 34 #define USE_DISPATCH_REGISTRY_ARRAY 1 35 36 class btCollisionDispatcher; 37 ///user can override this nearcallback for collision filtering and more finegrained control over collision detection 38 typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); 39 40 41 ///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs. 42 ///Time of Impact, Closest Points and Penetration Depth. 43 class btCollisionDispatcher : public btDispatcher 44 { 45 46 protected: 47 48 int m_dispatcherFlags; 49 50 btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr; 51 52 btManifoldResult m_defaultManifoldResult; 53 54 btNearCallback m_nearCallback; 55 56 btPoolAllocator* m_collisionAlgorithmPoolAllocator; 57 58 btPoolAllocator* m_persistentManifoldPoolAllocator; 59 60 btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; 61 62 btCollisionConfiguration* m_collisionConfiguration; 63 64 65 public: 66 67 enum DispatcherFlags 68 { 69 CD_STATIC_STATIC_REPORTED = 1, 70 CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2, 71 CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4 72 }; 73 74 int getDispatcherFlags() const 75 { 76 return m_dispatcherFlags; 77 } 78 79 void setDispatcherFlags(int flags) 80 { 81 m_dispatcherFlags = flags; 82 } 83 84 ///registerCollisionCreateFunc allows registration of custom/alternative collision create functions 85 void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc); 86 87 int getNumManifolds() const 88 { 89 return int( m_manifoldsPtr.size()); 90 } 91 92 btPersistentManifold** getInternalManifoldPointer() 93 { 94 return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0; 95 } 96 97 btPersistentManifold* getManifoldByIndexInternal(int index) 98 { 99 return m_manifoldsPtr[index]; 100 } 101 102 const btPersistentManifold* getManifoldByIndexInternal(int index) const 103 { 104 return m_manifoldsPtr[index]; 105 } 106 107 btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration); 108 109 virtual ~btCollisionDispatcher(); 110 111 virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1); 112 113 virtual void releaseManifold(btPersistentManifold* manifold); 114 115 116 virtual void clearManifold(btPersistentManifold* manifold); 117 118 btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold = 0); 119 120 virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1); 121 122 virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1); 123 124 virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ; 125 126 void setNearCallback(btNearCallback nearCallback) 127 { 128 m_nearCallback = nearCallback; 129 } 130 131 btNearCallback getNearCallback() const 132 { 133 return m_nearCallback; 134 } 135 136 //by default, Bullet will use this near callback 137 static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); 138 139 virtual void* allocateCollisionAlgorithm(int size); 140 141 virtual void freeCollisionAlgorithm(void* ptr); 142 143 btCollisionConfiguration* getCollisionConfiguration() 144 { 145 return m_collisionConfiguration; 146 } 147 148 const btCollisionConfiguration* getCollisionConfiguration() const 149 { 150 return m_collisionConfiguration; 151 } 152 153 void setCollisionConfiguration(btCollisionConfiguration* config) 154 { 155 m_collisionConfiguration = config; 156 } 157 158 virtual btPoolAllocator* getInternalManifoldPool() 159 { 160 return m_persistentManifoldPoolAllocator; 161 } 162 163 virtual const btPoolAllocator* getInternalManifoldPool() const 164 { 165 return m_persistentManifoldPoolAllocator; 166 } 167 168 }; 169 170 #endif //BT_COLLISION__DISPATCHER_H 171 172
