forked from bartvdbraak/blender
dad6ef9045
didn't check every single file, so might have broken some gameengine stuff, will fix it this weekend!
104 lines
2.3 KiB
C++
104 lines
2.3 KiB
C++
#ifndef TOI_CONTACT_DISPATCHER_H
|
|
#define TOI_CONTACT_DISPATCHER_H
|
|
|
|
#include "BroadphaseCollision/CollisionDispatcher.h"
|
|
#include "NarrowPhaseCollision/PersistentManifold.h"
|
|
#include "CollisionDispatch/UnionFind.h"
|
|
#include "BroadphaseCollision/BroadphaseProxy.h"
|
|
|
|
class ConstraintSolver;
|
|
class IDebugDraw;
|
|
|
|
//island management
|
|
#define ACTIVE_TAG 1
|
|
#define ISLAND_SLEEPING 2
|
|
#define WANTS_DEACTIVATION 3
|
|
|
|
|
|
struct CollisionAlgorithmCreateFunc
|
|
{
|
|
bool m_swapped;
|
|
|
|
CollisionAlgorithmCreateFunc()
|
|
:m_swapped(false)
|
|
{
|
|
}
|
|
virtual CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
|
|
{
|
|
return 0;
|
|
}
|
|
};
|
|
#include <vector>
|
|
///ToiContactDispatcher (Time of Impact) is the main collision dispatcher.
|
|
///Basic implementation supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
|
|
///Time of Impact, Closest Points and Penetration Depth.
|
|
class ToiContactDispatcher : public Dispatcher
|
|
{
|
|
|
|
bool m_useIslands;
|
|
|
|
|
|
std::vector<PersistentManifold*> m_manifoldsPtr;
|
|
|
|
|
|
UnionFind m_unionFind;
|
|
ConstraintSolver* m_solver;
|
|
|
|
CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
|
|
|
|
public:
|
|
|
|
UnionFind& GetUnionFind() { return m_unionFind;}
|
|
|
|
// int m_firstFreeManifold;
|
|
|
|
// const PersistentManifold* GetManifoldByIndexInternal(int index)
|
|
// {
|
|
// return &m_manifolds[index];
|
|
// }
|
|
|
|
int GetNumManifolds() { return m_manifoldsPtr.size();}
|
|
|
|
PersistentManifold* GetManifoldByIndexInternal(int index)
|
|
{
|
|
return m_manifoldsPtr[index];
|
|
}
|
|
|
|
|
|
void InitUnionFind()
|
|
{
|
|
if (m_useIslands)
|
|
m_unionFind.reset();
|
|
}
|
|
|
|
void FindUnions();
|
|
|
|
int m_count;
|
|
|
|
ToiContactDispatcher (ConstraintSolver* solver);
|
|
|
|
virtual PersistentManifold* GetNewManifold(void* b0,void* b1);
|
|
|
|
virtual void ReleaseManifold(PersistentManifold* manifold);
|
|
|
|
//
|
|
// todo: this is random access, it can be walked 'cache friendly'!
|
|
//
|
|
virtual void SolveConstraints(float timeStep, int numIterations,int numRigidBodies,IDebugDraw* debugDrawer);
|
|
|
|
|
|
CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
|
|
{
|
|
CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
|
|
return algo;
|
|
}
|
|
|
|
CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
|
|
|
|
virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
|
|
|
|
};
|
|
|
|
#endif //TOI_CONTACT_DISPATCHER_H
|
|
|