| /* |
| 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 BROADPHASE_INTERFACE_H |
| #define BROADPHASE_INTERFACE_H |
| |
| |
| |
| struct btDispatcherInfo; |
| class btDispatcher; |
| #include "btBroadphaseProxy.h" |
| |
| class btOverlappingPairCache; |
| |
| |
| |
| struct btBroadphaseRayCallback |
| { |
| ///added some cached data to accelerate ray-AABB tests |
| btVector3 m_rayDirectionInverse; |
| unsigned int m_signs[3]; |
| btScalar m_lambda_max; |
| |
| virtual ~btBroadphaseRayCallback() {} |
| virtual bool process(const btBroadphaseProxy* proxy) = 0; |
| }; |
| |
| #include "LinearMath/btVector3.h" |
| |
| ///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs. |
| ///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase. |
| ///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class. |
| class btBroadphaseInterface |
| { |
| public: |
| virtual ~btBroadphaseInterface() {} |
| |
| virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0; |
| virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0; |
| virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0; |
| virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0; |
| |
| virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0; |
| |
| ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb |
| virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0; |
| |
| virtual btOverlappingPairCache* getOverlappingPairCache()=0; |
| virtual const btOverlappingPairCache* getOverlappingPairCache() const =0; |
| |
| ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame |
| ///will add some transform later |
| virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0; |
| |
| ///reset broadphase internal structures, to ensure determinism/reproducability |
| virtual void resetPool(btDispatcher* dispatcher) {}; |
| |
| virtual void printStats() = 0; |
| |
| }; |
| |
| #endif //BROADPHASE_INTERFACE_H |