Bullet Collision Detection & Physics Library: btCollisionAlgorithm.h Source File

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btCollisionAlgorithm.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_COLLISION_ALGORITHM_H
17 #define BT_COLLISION_ALGORITHM_H
18
19 #include "LinearMath/btScalar.h"
20 #include "LinearMath/btAlignedObjectArray.h"
21
22 struct btBroadphaseProxy;
23 class btDispatcher;
24 class btManifoldResult;
25 class btCollisionObject;
26 struct btCollisionObjectWrapper;
27 struct btDispatcherInfo;
28 class btPersistentManifold;
29
30 typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray;
31
32 struct btCollisionAlgorithmConstructionInfo
33 {
34 btCollisionAlgorithmConstructionInfo()
35 :m_dispatcher1(0),
36 m_manifold(0)
37 {
38 }
39 btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
40 :m_dispatcher1(dispatcher)
41 {
42 (void)temp;
43 }
44
45 btDispatcher* m_dispatcher1;
46 btPersistentManifold* m_manifold;
47
48 // int getDispatcherId();
49
50 };
51
52
55 class btCollisionAlgorithm
56 {
57
58 protected:
59
60 btDispatcher* m_dispatcher;
61
62 protected:
63 // int getDispatcherId();
64
65 public:
66
67 btCollisionAlgorithm() {};
68
69 btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
70
71 virtual ~btCollisionAlgorithm() {};
72
73 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
74
75 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
76
77 virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0;
78 };
79
80
81 #endif //BT_COLLISION_ALGORITHM_H
btCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btCollisionAlgorithmConstructionInfo::btCollisionAlgorithmConstructionInfo
btCollisionAlgorithmConstructionInfo()
Definition: btCollisionAlgorithm.h:34
btAlignedObjectArray< btPersistentManifold * >
btCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btCollisionAlgorithm::~btCollisionAlgorithm
virtual ~btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:71
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:60
btCollisionAlgorithm::btCollisionAlgorithm
btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:67
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:85
btCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)=0
btCollisionAlgorithmConstructionInfo::btCollisionAlgorithmConstructionInfo
btCollisionAlgorithmConstructionInfo(btDispatcher *dispatcher, int temp)
Definition: btCollisionAlgorithm.h:39
btAlignedObjectArray.h
btManifoldArray
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
Definition: btCollisionAlgorithm.h:28
btCollisionAlgorithmConstructionInfo::m_manifold
btPersistentManifold * m_manifold
Definition: btCollisionAlgorithm.h:46
btDispatcherInfo
Definition: btDispatcher.h:30
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btScalar.h