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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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 COLLISION__DISPATCHER_H
#define COLLISION__DISPATCHER_H
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
class btIDebugDraw;
class btOverlappingPairCache;
#include "btCollisionCreateFunc.h"
///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
///Time of Impact, Closest Points and Penetration Depth.
class btCollisionDispatcher : public btDispatcher
{
std::vector<btPersistentManifold*> m_manifoldsPtr;
bool m_useIslands;
btManifoldResult m_defaultManifoldResult;
btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionAlgorithmCreateFunc* internalFindCreateFunc(int proxyType0,int proxyType1);
//default CreationFunctions, filling the m_doubleDispatch table
btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
public:
///allows the user to get contact point callbacks
inline btManifoldResult* internalGetNewManifoldResult(btCollisionObject* obj0,btCollisionObject* obj1)
{
//in-place, this prevents parallel dispatching, but just adding a list would fix that.
btManifoldResult* manifoldResult = new (&m_defaultManifoldResult) btManifoldResult(obj0,obj1);
return manifoldResult;
}
///allows the user to get contact point callbacks
inline void internalReleaseManifoldResult(btManifoldResult*)
{
}
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
int getNumManifolds() const
{
return int( m_manifoldsPtr.size());
}
btPersistentManifold** getInternalManifoldPointer()
{
return &m_manifoldsPtr[0];
}
btPersistentManifold* getManifoldByIndexInternal(int index)
{
return m_manifoldsPtr[index];
}
const btPersistentManifold* getManifoldByIndexInternal(int index) const
{
return m_manifoldsPtr[index];
}
int m_count;
///the default constructor creates/register default collision algorithms, for convex, compound and concave shape support
btCollisionDispatcher ();
///a special constructor that doesn't create/register the default collision algorithms
btCollisionDispatcher(bool noDefaultAlgorithms);
virtual ~btCollisionDispatcher();
virtual btPersistentManifold* getNewManifold(void* b0,void* b1);
virtual void releaseManifold(btPersistentManifold* manifold);
virtual void clearManifold(btPersistentManifold* manifold);
btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1);
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1);
virtual int getUniqueId() { return RIGIDBODY_DISPATCHER;}
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo);
};
#endif //COLLISION__DISPATCHER_H
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