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btCollisionDispatcher.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 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"
#include "LinearMath/btAlignedObjectArray.h"

class btIDebugDraw;
class btOverlappingPairCache;
class btPoolAllocator;
class btCollisionConfiguration;

#include "btCollisionCreateFunc.h"

#define USE_DISPATCH_REGISTRY_ARRAY 1

class btCollisionDispatcher;
///user can override this nearcallback for collision filtering and more finegrained control over collision detection
typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);


///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
///Time of Impact, Closest Points and Penetration Depth.
00043 class btCollisionDispatcher : public btDispatcher
{
      int m_count;
      
      btAlignedObjectArray<btPersistentManifold*>     m_manifoldsPtr;

      bool m_useIslands;

      bool  m_staticWarningReported;
      
      btManifoldResult  m_defaultManifoldResult;

      btNearCallback          m_nearCallback;
      
      btPoolAllocator*  m_collisionAlgorithmPoolAllocator;

      btPoolAllocator*  m_persistentManifoldPoolAllocator;

      btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
      

      btCollisionConfiguration*     m_collisionConfiguration;


public:

      ///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];
      }

      btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);

      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 void      dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;

      void  setNearCallback(btNearCallback      nearCallback)
      {
            m_nearCallback = nearCallback; 
      }

      btNearCallback    getNearCallback() const
      {
            return m_nearCallback;
      }

      //by default, Bullet will use this near callback
      static void  defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);

      virtual     void* allocateCollisionAlgorithm(int size);

      virtual     void freeCollisionAlgorithm(void* ptr);

      btCollisionConfiguration*     getCollisionConfiguration()
      {
            return m_collisionConfiguration;
      }

      const btCollisionConfiguration*     getCollisionConfiguration() const
      {
            return m_collisionConfiguration;
      }

      void  setCollisionConfiguration(btCollisionConfiguration* config)
      {
            m_collisionConfiguration = config;
      }

};

#endif //COLLISION__DISPATCHER_H


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