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