diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h | 94 |
1 files changed, 46 insertions, 48 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h index 92696ee5429..04309670cfc 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h @@ -37,33 +37,28 @@ class btCollisionDispatcher; ///user can override this nearcallback for collision filtering and more finegrained control over collision detection typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); - ///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs. ///Time of Impact, Closest Points and Penetration Depth. class btCollisionDispatcher : public btDispatcher { - protected: + int m_dispatcherFlags; - int m_dispatcherFlags; + btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr; - btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr; + btNearCallback m_nearCallback; - btManifoldResult m_defaultManifoldResult; + btPoolAllocator* m_collisionAlgorithmPoolAllocator; - btNearCallback m_nearCallback; - - btPoolAllocator* m_collisionAlgorithmPoolAllocator; + btPoolAllocator* m_persistentManifoldPoolAllocator; - btPoolAllocator* m_persistentManifoldPoolAllocator; + btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; - btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; - - btCollisionConfiguration* m_collisionConfiguration; + btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; + btCollisionConfiguration* m_collisionConfiguration; public: - enum DispatcherFlags { CD_STATIC_STATIC_REPORTED = 1, @@ -71,101 +66,104 @@ public: CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4 }; - int getDispatcherFlags() const + int getDispatcherFlags() const { return m_dispatcherFlags; } - void setDispatcherFlags(int flags) + void setDispatcherFlags(int flags) { m_dispatcherFlags = flags; } ///registerCollisionCreateFunc allows registration of custom/alternative collision create functions - void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc); + void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc); - int getNumManifolds() const - { - return int( m_manifoldsPtr.size()); + void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc); + + int getNumManifolds() const + { + return int(m_manifoldsPtr.size()); } - btPersistentManifold** getInternalManifoldPointer() + btPersistentManifold** getInternalManifoldPointer() { - return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0; + return m_manifoldsPtr.size() ? &m_manifoldsPtr[0] : 0; } - btPersistentManifold* getManifoldByIndexInternal(int index) + btPersistentManifold* getManifoldByIndexInternal(int index) { + btAssert(index>=0); + btAssert(index<m_manifoldsPtr.size()); return m_manifoldsPtr[index]; } - const btPersistentManifold* getManifoldByIndexInternal(int index) const + const btPersistentManifold* getManifoldByIndexInternal(int index) const { + btAssert(index>=0); + btAssert(index<m_manifoldsPtr.size()); return m_manifoldsPtr[index]; } - btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration); + btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration); virtual ~btCollisionDispatcher(); - virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1); - - virtual void releaseManifold(btPersistentManifold* manifold); + virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1); + virtual void releaseManifold(btPersistentManifold* manifold); virtual void clearManifold(btPersistentManifold* manifold); - btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold = 0); - - virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1); - - virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1); - - virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ; + btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType); + + virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1); + + virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1); - void setNearCallback(btNearCallback nearCallback) + virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher); + + void setNearCallback(btNearCallback nearCallback) { - m_nearCallback = nearCallback; + m_nearCallback = nearCallback; } - btNearCallback getNearCallback() const + btNearCallback getNearCallback() const { return m_nearCallback; } //by default, Bullet will use this near callback - static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); + static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); - virtual void* allocateCollisionAlgorithm(int size); + virtual void* allocateCollisionAlgorithm(int size); - virtual void freeCollisionAlgorithm(void* ptr); + virtual void freeCollisionAlgorithm(void* ptr); - btCollisionConfiguration* getCollisionConfiguration() + btCollisionConfiguration* getCollisionConfiguration() { return m_collisionConfiguration; } - const btCollisionConfiguration* getCollisionConfiguration() const + const btCollisionConfiguration* getCollisionConfiguration() const { return m_collisionConfiguration; } - void setCollisionConfiguration(btCollisionConfiguration* config) + void setCollisionConfiguration(btCollisionConfiguration* config) { m_collisionConfiguration = config; } - virtual btPoolAllocator* getInternalManifoldPool() + virtual btPoolAllocator* getInternalManifoldPool() { return m_persistentManifoldPoolAllocator; } - virtual const btPoolAllocator* getInternalManifoldPool() const + virtual const btPoolAllocator* getInternalManifoldPool() const { return m_persistentManifoldPoolAllocator; } - }; -#endif //BT_COLLISION__DISPATCHER_H - +#endif //BT_COLLISION__DISPATCHER_H |