mirror of
https://github.com/bulletphysics/bullet3
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116 lines
3.8 KiB
C++
116 lines
3.8 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 "BroadphaseCollision/Dispatcher.h"
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#include "NarrowPhaseCollision/PersistentManifold.h"
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#include "CollisionDispatch/ManifoldResult.h"
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#include "BroadphaseCollision/BroadphaseProxy.h"
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class IDebugDraw;
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class OverlappingPairCache;
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#include "CollisionCreateFunc.h"
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///CollisionDispatcher 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 CollisionDispatcher : public Dispatcher
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{
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std::vector<PersistentManifold*> m_manifoldsPtr;
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bool m_useIslands;
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ManifoldResult m_defaultManifoldResult;
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CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
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CollisionAlgorithmCreateFunc* InternalFindCreateFunc(int proxyType0,int proxyType1);
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//default CreationFunctions, filling the m_doubleDispatch table
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CollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
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CollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
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CollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
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CollisionAlgorithmCreateFunc* m_compoundCreateFunc;
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CollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
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CollisionAlgorithmCreateFunc* m_emptyCreateFunc;
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public:
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///RegisterCollisionCreateFunc allows registration of custom/alternative collision create functions
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void RegisterCollisionCreateFunc(int proxyType0,int proxyType1, CollisionAlgorithmCreateFunc* createFunc);
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int GetNumManifolds() const
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{
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return m_manifoldsPtr.size();
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}
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PersistentManifold* GetManifoldByIndexInternal(int index)
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{
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return m_manifoldsPtr[index];
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}
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const PersistentManifold* GetManifoldByIndexInternal(int index) const
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{
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return m_manifoldsPtr[index];
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}
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int m_count;
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CollisionDispatcher ();
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virtual ~CollisionDispatcher();
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virtual PersistentManifold* GetNewManifold(void* b0,void* b1);
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virtual void ReleaseManifold(PersistentManifold* manifold);
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///allows the user to get contact point callbacks
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virtual ManifoldResult* GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold);
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///allows the user to get contact point callbacks
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virtual void ReleaseManifoldResult(ManifoldResult*);
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virtual void ClearManifold(PersistentManifold* manifold);
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CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
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CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
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virtual bool NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
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virtual bool NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
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virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
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virtual void DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo);
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};
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#endif //COLLISION__DISPATCHER_H
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