1 files changed, 105 insertions, 0 deletions
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h
new file mode 100644
index 00000000000..818901cb901
--- /dev/null
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h
@@ -0,0 +1,105 @@
+#ifndef TOI_CONTACT_DISPATCHER_H
+#define TOI_CONTACT_DISPATCHER_H
+
+#include "BroadphaseCollision/CollisionDispatcher.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "CollisionDispatch/UnionFind.h"
+#include "BroadphaseCollision/BroadphaseProxy.h"
+
+class ConstraintSolver;
+
+//island management
+#define ACTIVE_TAG 1
+#define ISLAND_SLEEPING 2
+#define WANTS_DEACTIVATION 3
+
+#define MAX_MANIFOLDS 512
+
+struct CollisionAlgorithmCreateFunc
+{
+	bool m_swapped;
+	
+	CollisionAlgorithmCreateFunc()
+		:m_swapped(false)
+	{
+	}
+	virtual	CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+	{
+		return 0;
+	}
+};
+#include <vector>
+///ToiContactDispatcher (Time of Impact) is the main collision dispatcher.
+///Basic implementation supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
+///Time of Impact, Closest Points and Penetration Depth.
+class ToiContactDispatcher : public Dispatcher
+{
+	
+	bool m_useIslands;
+
+	
+	std::vector<PersistentManifold*>	m_manifoldsPtr;
+
+//	PersistentManifold	m_manifolds[MAX_MANIFOLDS];
+//	int	m_freeManifolds[MAX_MANIFOLDS];
+
+	UnionFind m_unionFind;
+	ConstraintSolver*	m_solver;
+	
+	CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
+	
+public:
+	
+	UnionFind& GetUnionFind() { return m_unionFind;}
+
+//	int	m_firstFreeManifold;
+	
+//	const PersistentManifold* GetManifoldByIndexInternal(int index)
+//	{
+//		return &m_manifolds[index];
+//	}
+
+	int	GetNumManifolds() { return m_manifoldsPtr.size();}
+
+	 PersistentManifold* GetManifoldByIndexInternal(int index)
+	{
+	return m_manifoldsPtr[index];
+	}
+
+
+	void InitUnionFind()
+	{
+		if (m_useIslands)
+			m_unionFind.reset();
+	}
+	
+	void FindUnions();
+	
+	int m_count;
+	
+	ToiContactDispatcher (ConstraintSolver* solver);
+
+	virtual PersistentManifold*	GetNewManifold(void* b0,void* b1);
+	
+	virtual void ReleaseManifold(PersistentManifold* manifold);
+
+	//
+	// todo: this is random access, it can be walked 'cache friendly'!
+	//
+	virtual void SolveConstraints(float timeStep, int numIterations,int numRigidBodies);
+	
+	
+	CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+	{
+		CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
+		return algo;
+	}
+	
+	CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
+	
+	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
+	
+};
+
+#endif //TOI_CONTACT_DISPATCHER_H
+