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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 BT_DEFAULT_COLLISION_CONFIGURATION
#define BT_DEFAULT_COLLISION_CONFIGURATION
#include "btCollisionConfiguration.h"
class btVoronoiSimplexSolver;
class btConvexPenetrationDepthSolver;
struct btDefaultCollisionConstructionInfo
{
btStackAlloc* m_stackAlloc;
btPoolAllocator* m_persistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
int m_defaultMaxPersistentManifoldPoolSize;
int m_defaultMaxCollisionAlgorithmPoolSize;
int m_defaultStackAllocatorSize;
btDefaultCollisionConstructionInfo()
:m_stackAlloc(0),
m_persistentManifoldPool(0),
m_collisionAlgorithmPool(0),
m_defaultMaxPersistentManifoldPoolSize(65535),
m_defaultMaxCollisionAlgorithmPoolSize(65535),
m_defaultStackAllocatorSize(5*1024*1024)
{
}
};
///btCollisionConfiguration allows to configure Bullet collision detection
///stack allocator, pool memory allocators
///todo: describe the meaning
class btDefaultCollisionConfiguration : public btCollisionConfiguration
{
protected:
int m_persistentManifoldPoolSize;
btStackAlloc* m_stackAlloc;
bool m_ownsStackAllocator;
btPoolAllocator* m_persistentManifoldPool;
bool m_ownsPersistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
bool m_ownsCollisionAlgorithmPool;
//default simplex/penetration depth solvers
btVoronoiSimplexSolver* m_simplexSolver;
btConvexPenetrationDepthSolver* m_pdSolver;
//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;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
btCollisionAlgorithmCreateFunc* m_triangleSphereCF;
btCollisionAlgorithmCreateFunc* m_planeConvexCF;
btCollisionAlgorithmCreateFunc* m_convexPlaneCF;
public:
btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
virtual ~btDefaultCollisionConfiguration();
///memory pools
virtual btPoolAllocator* getPersistentManifoldPool()
{
return m_persistentManifoldPool;
}
virtual btPoolAllocator* getCollisionAlgorithmPool()
{
return m_collisionAlgorithmPool;
}
virtual btStackAlloc* getStackAllocator()
{
return m_stackAlloc;
}
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
};
#endif //BT_DEFAULT_COLLISION_CONFIGURATION
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