forked from bartvdbraak/blender
120 lines
2.6 KiB
C++
120 lines
2.6 KiB
C++
/*
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* Copyright (c) 2002-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef COLLISION__DISPATCHER_H
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#define COLLISION__DISPATCHER_H
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#include "BroadphaseCollision/Dispatcher.h"
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#include "NarrowPhaseCollision/PersistentManifold.h"
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#include "CollisionDispatch/UnionFind.h"
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#include "BroadphaseCollision/BroadphaseProxy.h"
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#include <vector>
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class IDebugDraw;
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struct CollisionAlgorithmCreateFunc
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{
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bool m_swapped;
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CollisionAlgorithmCreateFunc()
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:m_swapped(false)
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{
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}
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virtual CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
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{
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return 0;
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}
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};
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///CollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
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///Time of Impact, Closest Points and Penetration Depth.
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class CollisionDispatcher : public Dispatcher
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{
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std::vector<PersistentManifold*> m_manifoldsPtr;
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UnionFind m_unionFind;
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bool m_useIslands;
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CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
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public:
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UnionFind& GetUnionFind() { return m_unionFind;}
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struct IslandCallback
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{
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virtual void ProcessIsland(PersistentManifold** manifolds,int numManifolds) = 0;
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};
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int GetNumManifolds() const
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{
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return m_manifoldsPtr.size();
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}
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PersistentManifold* GetManifoldByIndexInternal(int index)
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{
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return m_manifoldsPtr[index];
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}
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const PersistentManifold* GetManifoldByIndexInternal(int index) const
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{
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return m_manifoldsPtr[index];
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}
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void InitUnionFind(int n)
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{
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if (m_useIslands)
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m_unionFind.reset(n);
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}
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void FindUnions();
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int m_count;
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CollisionDispatcher ();
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virtual PersistentManifold* GetNewManifold(void* b0,void* b1);
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virtual void ReleaseManifold(PersistentManifold* manifold);
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virtual void BuildAndProcessIslands(int numBodies, IslandCallback* callback);
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CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
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{
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CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
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return algo;
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}
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CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
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virtual bool NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
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virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
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};
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#endif //COLLISION__DISPATCHER_H
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