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#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;
class IDebugDraw;
//island management
#define ACTIVE_TAG 1
#define ISLAND_SLEEPING 2
#define WANTS_DEACTIVATION 3
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;
UnionFind m_unionFind;
ConstraintSolver* m_solver;
float m_sor;
float m_tau;
float m_damping;
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,IDebugDraw* debugDrawer);
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;}
void SetSor(float sor)
{
m_sor = sor;
}
void SetTau(float tau)
{
m_tau = tau;
}
void SetDamping( float damping)
{
m_damping = damping;
}
};
#endif //TOI_CONTACT_DISPATCHER_H
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