| /* |
| 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 COLLISION_ALGORITHM_H |
| #define COLLISION_ALGORITHM_H |
| |
| #include "LinearMath/btScalar.h" |
| #include "LinearMath/btAlignedObjectArray.h" |
| |
| struct btBroadphaseProxy; |
| class btDispatcher; |
| class btManifoldResult; |
| class btCollisionObject; |
| struct btDispatcherInfo; |
| class btPersistentManifold; |
| |
| typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray; |
| |
| struct btCollisionAlgorithmConstructionInfo |
| { |
| btCollisionAlgorithmConstructionInfo() |
| :m_dispatcher1(0), |
| m_manifold(0) |
| { |
| } |
| btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp) |
| :m_dispatcher1(dispatcher) |
| { |
| (void)temp; |
| } |
| |
| btDispatcher* m_dispatcher1; |
| btPersistentManifold* m_manifold; |
| |
| int getDispatcherId(); |
| |
| }; |
| |
| |
| ///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher. |
| ///It is persistent over frames |
| class btCollisionAlgorithm |
| { |
| |
| protected: |
| |
| btDispatcher* m_dispatcher; |
| |
| protected: |
| int getDispatcherId(); |
| |
| public: |
| |
| btCollisionAlgorithm() {}; |
| |
| btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci); |
| |
| virtual ~btCollisionAlgorithm() {}; |
| |
| virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; |
| |
| virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; |
| |
| virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0; |
| }; |
| |
| |
| #endif //COLLISION_ALGORITHM_H |