Bullet Collision Detection & Physics Library
btCompoundCollisionAlgorithm.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14
15*/
16
17#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
18#define BT_COMPOUND_COLLISION_ALGORITHM_H
19
23
25class btDispatcher;
30class btDispatcher;
32
34typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
36
39{
42
43protected:
46
49
50 int m_compoundShapeRevision; //to keep track of changes, so that childAlgorithm array can be updated
51
53
55
56public:
58
60
65
66 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
67
69
71 {
72 int i;
73 for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
74 {
76 m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
77 }
78 }
79
81 {
83 {
85 return new (mem) btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
86 }
87 };
88
97};
98
99#endif //BT_COMPOUND_COLLISION_ALGORITHM_H
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
btShapePairCallback gCompoundChildShapePairCallback
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
btAlignedObjectArray< const btDbvtNode * > btNodeStack
Definition btDbvt.h:223
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
btCollisionObject can be used to manage collision detection objects.
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
class btPersistentManifold * m_sharedManifold
btAlignedObjectArray< btCollisionAlgorithm * > m_childCollisionAlgorithms
btCollisionAlgorithm * getChildAlgorithm(int n) const
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void preallocateChildAlgorithms(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult is a helper class to manage contact results.
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)