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btBroadphaseInterface.h

/*
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           BROADPHASE_INTERFACE_H
#define     BROADPHASE_INTERFACE_H



struct btDispatcherInfo;
class btDispatcher;
#include "btBroadphaseProxy.h"

class btOverlappingPairCache;



struct      btBroadphaseRayCallback
{
      ///added some cached data to accelerate ray-AABB tests
      btVector3         m_rayDirectionInverse;
      unsigned int      m_signs[3];
      btScalar          m_lambda_max;

      virtual ~btBroadphaseRayCallback() {}
      virtual bool      process(const btBroadphaseProxy* proxy) = 0;
};

#include "LinearMath/btVector3.h"

///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase.
///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class.
00045 class btBroadphaseInterface
{
public:
      virtual ~btBroadphaseInterface() {}

      virtual btBroadphaseProxy*    createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
      virtual void      destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
      virtual void      setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
      virtual void      getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;

      virtual void      rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;

      ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
      virtual void      calculateOverlappingPairs(btDispatcher* dispatcher)=0;

      virtual     btOverlappingPairCache* getOverlappingPairCache()=0;
      virtual     const btOverlappingPairCache* getOverlappingPairCache() const =0;

      ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
      ///will add some transform later
      virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;

      ///reset broadphase internal structures, to ensure determinism/reproducability
00068       virtual void resetPool(btDispatcher* dispatcher) {};

      virtual void      printStats() = 0;

};

#endif //BROADPHASE_INTERFACE_H

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