| /* |
| 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 _DISPATCHER_H |
| #define _DISPATCHER_H |
| |
| #include "LinearMath/btScalar.h" |
| |
| class btCollisionAlgorithm; |
| struct btBroadphaseProxy; |
| class btRigidBody; |
| class btCollisionObject; |
| class btOverlappingPairCache; |
| |
| |
| class btPersistentManifold; |
| class btStackAlloc; |
| |
| struct btDispatcherInfo |
| { |
| enum DispatchFunc |
| { |
| DISPATCH_DISCRETE = 1, |
| DISPATCH_CONTINUOUS |
| }; |
| btDispatcherInfo() |
| :m_timeStep(btScalar(0.)), |
| m_stepCount(0), |
| m_dispatchFunc(DISPATCH_DISCRETE), |
| m_timeOfImpact(btScalar(1.)), |
| m_useContinuous(false), |
| m_debugDraw(0), |
| m_enableSatConvex(false), |
| m_enableSPU(true), |
| m_useEpa(true), |
| m_allowedCcdPenetration(btScalar(0.04)), |
| m_useConvexConservativeDistanceUtil(false), |
| m_convexConservativeDistanceThreshold(0.0f), |
| m_stackAllocator(0) |
| { |
| |
| } |
| btScalar m_timeStep; |
| int m_stepCount; |
| int m_dispatchFunc; |
| mutable btScalar m_timeOfImpact; |
| bool m_useContinuous; |
| class btIDebugDraw* m_debugDraw; |
| bool m_enableSatConvex; |
| bool m_enableSPU; |
| bool m_useEpa; |
| btScalar m_allowedCcdPenetration; |
| bool m_useConvexConservativeDistanceUtil; |
| btScalar m_convexConservativeDistanceThreshold; |
| btStackAlloc* m_stackAllocator; |
| }; |
| |
| ///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs. |
| ///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic). |
| class btDispatcher |
| { |
| |
| |
| public: |
| virtual ~btDispatcher() ; |
| |
| virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0; |
| |
| virtual btPersistentManifold* getNewManifold(void* body0,void* body1)=0; |
| |
| virtual void releaseManifold(btPersistentManifold* manifold)=0; |
| |
| virtual void clearManifold(btPersistentManifold* manifold)=0; |
| |
| virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0; |
| |
| virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0; |
| |
| virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) =0; |
| |
| virtual int getNumManifolds() const = 0; |
| |
| virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0; |
| |
| virtual btPersistentManifold** getInternalManifoldPointer() = 0; |
| |
| virtual void* allocateCollisionAlgorithm(int size) = 0; |
| |
| virtual void freeCollisionAlgorithm(void* ptr) = 0; |
| |
| }; |
| |
| |
| #endif //_DISPATCHER_H |