160 lines
4.9 KiB
C++
160 lines
4.9 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 COLLISION__DISPATCHER_H
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#define COLLISION__DISPATCHER_H
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "LinearMath/btAlignedObjectArray.h"
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class btIDebugDraw;
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class btOverlappingPairCache;
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class btPoolAllocator;
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class btCollisionConfiguration;
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#include "btCollisionCreateFunc.h"
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#define USE_DISPATCH_REGISTRY_ARRAY 1
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class btCollisionDispatcher;
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///user can override this nearcallback for collision filtering and more finegrained control over collision detection
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typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
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///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
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///Time of Impact, Closest Points and Penetration Depth.
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class btCollisionDispatcher : public btDispatcher
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{
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int m_dispatcherFlags;
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btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
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btManifoldResult m_defaultManifoldResult;
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btNearCallback m_nearCallback;
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btPoolAllocator* m_collisionAlgorithmPoolAllocator;
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btPoolAllocator* m_persistentManifoldPoolAllocator;
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btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
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btCollisionConfiguration* m_collisionConfiguration;
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public:
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enum DispatcherFlags
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{
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CD_STATIC_STATIC_REPORTED = 1,
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CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2
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};
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int getDispatcherFlags() const
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{
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return m_dispatcherFlags;
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}
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void setDispatcherFlags(int flags)
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{
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(void) flags;
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m_dispatcherFlags = 0;
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}
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///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
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void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
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int getNumManifolds() const
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{
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return int( m_manifoldsPtr.size());
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}
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btPersistentManifold** getInternalManifoldPointer()
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{
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return &m_manifoldsPtr[0];
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}
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btPersistentManifold* getManifoldByIndexInternal(int index)
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{
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return m_manifoldsPtr[index];
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}
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const btPersistentManifold* getManifoldByIndexInternal(int index) const
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{
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return m_manifoldsPtr[index];
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}
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btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
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virtual ~btCollisionDispatcher();
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virtual btPersistentManifold* getNewManifold(void* b0,void* b1);
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virtual void releaseManifold(btPersistentManifold* manifold);
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virtual void clearManifold(btPersistentManifold* manifold);
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btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
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virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1);
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virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1);
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virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
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void setNearCallback(btNearCallback nearCallback)
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{
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m_nearCallback = nearCallback;
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}
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btNearCallback getNearCallback() const
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{
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return m_nearCallback;
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}
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//by default, Bullet will use this near callback
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static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
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virtual void* allocateCollisionAlgorithm(int size);
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virtual void freeCollisionAlgorithm(void* ptr);
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btCollisionConfiguration* getCollisionConfiguration()
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{
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return m_collisionConfiguration;
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}
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const btCollisionConfiguration* getCollisionConfiguration() const
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{
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return m_collisionConfiguration;
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}
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void setCollisionConfiguration(btCollisionConfiguration* config)
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{
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m_collisionConfiguration = config;
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}
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};
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#endif //COLLISION__DISPATCHER_H
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