1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org 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 17 #ifndef BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H 18 #define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H 19 20 #include "btCompoundCollisionAlgorithm.h" 21 22 #include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" 23 #include "BulletCollision/BroadphaseCollision/btDispatcher.h" 24 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" 25 26 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" 27 class btDispatcher; 28 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" 29 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" 30 #include "LinearMath/btAlignedObjectArray.h" 31 #include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.h" 32 class btDispatcher; 33 class btCollisionObject; 34 35 class btCollisionShape; 36 typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1); 37 extern btShapePairCallback gCompoundCompoundChildShapePairCallback; 38 39 /// btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes 40 class btCompoundCompoundCollisionAlgorithm : public btCompoundCollisionAlgorithm 41 { 42 43 class btHashedSimplePairCache* m_childCollisionAlgorithmCache; 44 btSimplePairArray m_removePairs; 45 46 47 int m_compoundShapeRevision0;//to keep track of changes, so that childAlgorithm array can be updated 48 int m_compoundShapeRevision1; 49 50 void removeChildAlgorithms(); 51 52 // void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); 53 54 public: 55 56 btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); 57 58 virtual ~btCompoundCompoundCollisionAlgorithm(); 59 60 61 62 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); 63 64 btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); 65 66 virtual void getAllContactManifolds(btManifoldArray& manifoldArray); 67 68 69 struct CreateFunc :public btCollisionAlgorithmCreateFunc 70 { 71 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) 72 { 73 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm)); 74 return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false); 75 } 76 }; 77 78 struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc 79 { 80 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) 81 { 82 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm)); 83 return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true); 84 } 85 }; 86 87 }; 88 89 #endif //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H 90
