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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.


#include "BroadphaseCollision/Dispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "CollisionDispatch/UnionFind.h"
#include "CollisionDispatch/ManifoldResult.h"

#include "BroadphaseCollision/BroadphaseProxy.h"
#include <vector>

class IDebugDraw;

typedef std::vector<struct CollisionObject*> CollisionObjectArray;

struct CollisionAlgorithmCreateFunc
      bool m_swapped;
      virtual ~CollisionAlgorithmCreateFunc(){};

      virtual     CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
            return 0;

///CollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
///Time of Impact, Closest Points and Penetration Depth.
00051 class CollisionDispatcher : public Dispatcher
      std::vector<PersistentManifold*>    m_manifoldsPtr;

      UnionFind m_unionFind;

      bool m_useIslands;
      ManifoldResult    m_defaultManifoldResult;
      UnionFind& GetUnionFind() { return m_unionFind;}

      struct      IslandCallback
            virtual ~IslandCallback() {};

            virtual     void  ProcessIsland(PersistentManifold**  manifolds,int numManifolds) = 0;

      int   GetNumManifolds() const
            return m_manifoldsPtr.size();

       PersistentManifold* GetManifoldByIndexInternal(int index)
            return m_manifoldsPtr[index];

       const PersistentManifold* GetManifoldByIndexInternal(int index) const
            return m_manifoldsPtr[index];

      void InitUnionFind(int n)
            if (m_useIslands)
      void FindUnions();
      int m_count;
      CollisionDispatcher ();
      virtual ~CollisionDispatcher() {};

      virtual PersistentManifold*   GetNewManifold(void* b0,void* b1);
      virtual void ReleaseManifold(PersistentManifold* manifold);

      virtual void BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback);

      ///allows the user to get contact point callbacks 
      virtual     ManifoldResult*   GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold);

      ///allows the user to get contact point callbacks 
      virtual     void  ReleaseManifoldResult(ManifoldResult*);

      virtual void ClearManifold(PersistentManifold* manifold);

      CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
            CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
            return algo;
      CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
      virtual bool      NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
      virtual bool      NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);

      virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}



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