100 lines
4.2 KiB
C++
100 lines
4.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
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#define BT_COMPOUND_COLLISION_ALGORITHM_H
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#include "btActivatingCollisionAlgorithm.h"
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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class btDispatcher;
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "btCollisionCreateFunc.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "BulletCollision/BroadphaseCollision/btDbvt.h"
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class btDispatcher;
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class btCollisionObject;
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class btCollisionShape;
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typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
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extern btShapePairCallback gCompoundChildShapePairCallback;
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/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
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class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
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{
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btNodeStack stack2;
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btManifoldArray manifoldArray;
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protected:
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btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
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bool m_isSwapped;
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class btPersistentManifold* m_sharedManifold;
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bool m_ownsManifold;
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int m_compoundShapeRevision; //to keep track of changes, so that childAlgorithm array can be updated
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void removeChildAlgorithms();
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void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
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public:
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btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
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virtual ~btCompoundCollisionAlgorithm();
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btCollisionAlgorithm* getChildAlgorithm(int n) const
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{
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return m_childCollisionAlgorithms[n];
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}
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virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
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{
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int i;
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for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
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{
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if (m_childCollisionAlgorithms[i])
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m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
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}
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}
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struct CreateFunc : public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
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return new (mem) btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
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}
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};
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struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
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return new (mem) btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
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}
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};
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};
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#endif //BT_COMPOUND_COLLISION_ALGORITHM_H
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