1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 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. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 16 #ifndef BT_COLLISION__DISPATCHER_H 17 #define BT_COLLISION__DISPATCHER_H 18 19 #include "BulletCollision/BroadphaseCollision/btDispatcher.h" 20 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" 21 22 #include "BulletCollision/CollisionDispatch/btManifoldResult.h" 23 24 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" 25 #include "LinearMath/btAlignedObjectArray.h" 26 27 class btIDebugDraw; 28 class btOverlappingPairCache; 29 class btPoolAllocator; 30 class btCollisionConfiguration; 31 32 #include "btCollisionCreateFunc.h" 33 34 #define USE_DISPATCH_REGISTRY_ARRAY 1 35 36 class btCollisionDispatcher; 37 ///user can override this nearcallback for collision filtering and more finegrained control over collision detection 38 typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); 39 40 ///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs. 41 ///Time of Impact, Closest Points and Penetration Depth. 42 class btCollisionDispatcher : public btDispatcher 43 { 44 protected: 45 int m_dispatcherFlags; 46 47 btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr; 48 49 btManifoldResult m_defaultManifoldResult; 50 51 btNearCallback m_nearCallback; 52 53 btPoolAllocator* m_collisionAlgorithmPoolAllocator; 54 55 btPoolAllocator* m_persistentManifoldPoolAllocator; 56 57 btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; 58 59 btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; 60 61 btCollisionConfiguration* m_collisionConfiguration; 62 63 public: 64 enum DispatcherFlags 65 { 66 CD_STATIC_STATIC_REPORTED = 1, 67 CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2, 68 CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4 69 }; 70 getDispatcherFlags()71 int getDispatcherFlags() const 72 { 73 return m_dispatcherFlags; 74 } 75 setDispatcherFlags(int flags)76 void setDispatcherFlags(int flags) 77 { 78 m_dispatcherFlags = flags; 79 } 80 81 ///registerCollisionCreateFunc allows registration of custom/alternative collision create functions 82 void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc); 83 84 void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc); 85 getNumManifolds()86 int getNumManifolds() const 87 { 88 return int(m_manifoldsPtr.size()); 89 } 90 getInternalManifoldPointer()91 btPersistentManifold** getInternalManifoldPointer() 92 { 93 return m_manifoldsPtr.size() ? &m_manifoldsPtr[0] : 0; 94 } 95 getManifoldByIndexInternal(int index)96 btPersistentManifold* getManifoldByIndexInternal(int index) 97 { 98 return m_manifoldsPtr[index]; 99 } 100 getManifoldByIndexInternal(int index)101 const btPersistentManifold* getManifoldByIndexInternal(int index) const 102 { 103 return m_manifoldsPtr[index]; 104 } 105 106 btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration); 107 108 virtual ~btCollisionDispatcher(); 109 110 virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1); 111 112 virtual void releaseManifold(btPersistentManifold* manifold); 113 114 virtual void clearManifold(btPersistentManifold* manifold); 115 116 btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType); 117 118 virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1); 119 120 virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1); 121 122 virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher); 123 setNearCallback(btNearCallback nearCallback)124 void setNearCallback(btNearCallback nearCallback) 125 { 126 m_nearCallback = nearCallback; 127 } 128 getNearCallback()129 btNearCallback getNearCallback() const 130 { 131 return m_nearCallback; 132 } 133 134 //by default, Bullet will use this near callback 135 static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); 136 137 virtual void* allocateCollisionAlgorithm(int size); 138 139 virtual void freeCollisionAlgorithm(void* ptr); 140 getCollisionConfiguration()141 btCollisionConfiguration* getCollisionConfiguration() 142 { 143 return m_collisionConfiguration; 144 } 145 getCollisionConfiguration()146 const btCollisionConfiguration* getCollisionConfiguration() const 147 { 148 return m_collisionConfiguration; 149 } 150 setCollisionConfiguration(btCollisionConfiguration * config)151 void setCollisionConfiguration(btCollisionConfiguration* config) 152 { 153 m_collisionConfiguration = config; 154 } 155 getInternalManifoldPool()156 virtual btPoolAllocator* getInternalManifoldPool() 157 { 158 return m_persistentManifoldPoolAllocator; 159 } 160 getInternalManifoldPool()161 virtual const btPoolAllocator* getInternalManifoldPool() const 162 { 163 return m_persistentManifoldPoolAllocator; 164 } 165 }; 166 167 #endif //BT_COLLISION__DISPATCHER_H 168