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Diffstat (limited to 'extern/bullet2/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h')
| -rw-r--r-- | extern/bullet2/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h | 120 |
1 files changed, 120 insertions, 0 deletions
diff --git a/extern/bullet2/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h b/extern/bullet2/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h new file mode 100644 index 00000000000..151cb2c7966 --- /dev/null +++ b/extern/bullet2/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h @@ -0,0 +1,120 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H +#define SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "LinearMath/btTransformUtil.h" + +class btPersistentManifold; + +//#define USE_SEPDISTANCE_UTIL 1 + +/// SpuContactManifoldCollisionAlgorithm provides contact manifold and should be processed on SPU. +ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm +{ + btVector3 m_shapeDimensions0; + btVector3 m_shapeDimensions1; + btPersistentManifold* m_manifoldPtr; + int m_shapeType0; + int m_shapeType1; + float m_collisionMargin0; + float m_collisionMargin1; + + btCollisionObject* m_collisionObject0; + btCollisionObject* m_collisionObject1; + + + + +public: + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + + SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); +#ifdef USE_SEPDISTANCE_UTIL + btConvexSeparatingDistanceUtil m_sepDistance; +#endif //USE_SEPDISTANCE_UTIL + + virtual ~SpuContactManifoldCollisionAlgorithm(); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr) + manifoldArray.push_back(m_manifoldPtr); + } + + btPersistentManifold* getContactManifoldPtr() + { + return m_manifoldPtr; + } + + btCollisionObject* getCollisionObject0() + { + return m_collisionObject0; + } + + btCollisionObject* getCollisionObject1() + { + return m_collisionObject1; + } + + int getShapeType0() const + { + return m_shapeType0; + } + + int getShapeType1() const + { + return m_shapeType1; + } + float getCollisionMargin0() const + { + return m_collisionMargin0; + } + float getCollisionMargin1() const + { + return m_collisionMargin1; + } + + const btVector3& getShapeDimensions0() const + { + return m_shapeDimensions0; + } + + const btVector3& getShapeDimensions1() const + { + return m_shapeDimensions1; + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm)); + return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0,body1); + } + }; + +}; + +#endif //SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H |