Bullet Collision Detection & Physics Library: btCollisionDispatcher.h Source File

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btCollisionDispatcher.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
27class btIDebugDraw;
28class btOverlappingPairCache;
29class btPoolAllocator;
30class btCollisionConfiguration;
31
32#include "btCollisionCreateFunc.h"
33
34#define USE_DISPATCH_REGISTRY_ARRAY 1
35
36class btCollisionDispatcher;
38 typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
39
42 class btCollisionDispatcher : public btDispatcher
43{
44protected:
45 int m_dispatcherFlags;
46
47 btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
48
49 btNearCallback m_nearCallback;
50
51 btPoolAllocator* m_collisionAlgorithmPoolAllocator;
52
53 btPoolAllocator* m_persistentManifoldPoolAllocator;
54
55 btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
56
57 btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
58
59 btCollisionConfiguration* m_collisionConfiguration;
60
61public:
62 enum DispatcherFlags
63 {
64 CD_STATIC_STATIC_REPORTED = 1,
65 CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
66 CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
67 };
68
69 int getDispatcherFlags() const
70 {
71 return m_dispatcherFlags;
72 }
73
74 void setDispatcherFlags(int flags)
75 {
76 m_dispatcherFlags = flags;
77 }
78
80 void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
81
82 void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
83
84 int getNumManifolds() const
85 {
86 return int(m_manifoldsPtr.size());
87 }
88
89 btPersistentManifold** getInternalManifoldPointer()
90 {
91 return m_manifoldsPtr.size() ? &m_manifoldsPtr[0] : 0;
92 }
93
94 btPersistentManifold* getManifoldByIndexInternal(int index)
95 {
96 btAssert(index>=0);
97 btAssert(index<m_manifoldsPtr.size());
98 return m_manifoldsPtr[index];
99 }
100
101 const btPersistentManifold* getManifoldByIndexInternal(int index) const
102 {
103 btAssert(index>=0);
104 btAssert(index<m_manifoldsPtr.size());
105 return m_manifoldsPtr[index];
106 }
107
108 btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration);
109
110 virtual ~btCollisionDispatcher();
111
112 virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1);
113
114 virtual void releaseManifold(btPersistentManifold* manifold);
115
116 virtual void clearManifold(btPersistentManifold* manifold);
117
118 btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType);
119
120 virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
121
122 virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1);
123
124 virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher);
125
126 void setNearCallback(btNearCallback nearCallback)
127 {
128 m_nearCallback = nearCallback;
129 }
130
131 btNearCallback getNearCallback() const
132 {
133 return m_nearCallback;
134 }
135
136 //by default, Bullet will use this near callback
137 static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
138
139 virtual void* allocateCollisionAlgorithm(int size);
140
141 virtual void freeCollisionAlgorithm(void* ptr);
142
143 btCollisionConfiguration* getCollisionConfiguration()
144 {
145 return m_collisionConfiguration;
146 }
147
148 const btCollisionConfiguration* getCollisionConfiguration() const
149 {
150 return m_collisionConfiguration;
151 }
152
153 void setCollisionConfiguration(btCollisionConfiguration* config)
154 {
155 m_collisionConfiguration = config;
156 }
157
158 virtual btPoolAllocator* getInternalManifoldPool()
159 {
160 return m_persistentManifoldPoolAllocator;
161 }
162
163 virtual const btPoolAllocator* getInternalManifoldPool() const
164 {
165 return m_persistentManifoldPoolAllocator;
166 }
167};
168
169#endif //BT_COLLISION__DISPATCHER_H
btAlignedObjectArray.h
btBroadphaseProxy.h
MAX_BROADPHASE_COLLISION_TYPES
@ MAX_BROADPHASE_COLLISION_TYPES
Definition: btBroadphaseProxy.h:78
btCollisionCreateFunc.h
btNearCallback
void(* btNearCallback)(btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
user can override this nearcallback for collision filtering and more finegrained control over collisi...
Definition: btCollisionDispatcher.h:38
size
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition: btDbvt.cpp:52
btDispatcher.h
ebtDispatcherQueryType
ebtDispatcherQueryType
Definition: btDispatcher.h:69
btManifoldResult.h
btPersistentManifold.h
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:27
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
Definition: btCollisionDispatcher.h:43
btCollisionDispatcher::m_doubleDispatchClosestPoints
btCollisionAlgorithmCreateFunc * m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]
Definition: btCollisionDispatcher.h:57
btCollisionDispatcher::getManifoldByIndexInternal
const btPersistentManifold * getManifoldByIndexInternal(int index) const
Definition: btCollisionDispatcher.h:101
btCollisionDispatcher::getDispatcherFlags
int getDispatcherFlags() const
Definition: btCollisionDispatcher.h:69
btCollisionDispatcher::m_dispatcherFlags
int m_dispatcherFlags
Definition: btCollisionDispatcher.h:45
btCollisionDispatcher::getInternalManifoldPool
virtual const btPoolAllocator * getInternalManifoldPool() const
Definition: btCollisionDispatcher.h:163
btCollisionDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)
Definition: btCollisionDispatcher.cpp:106
btCollisionDispatcher::registerClosestPointsCreateFunc
void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
Definition: btCollisionDispatcher.cpp:59
btCollisionDispatcher::m_collisionConfiguration
btCollisionConfiguration * m_collisionConfiguration
Definition: btCollisionDispatcher.h:59
btCollisionDispatcher::needsCollision
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btCollisionDispatcher.cpp:158
btCollisionDispatcher::getCollisionConfiguration
btCollisionConfiguration * getCollisionConfiguration()
Definition: btCollisionDispatcher.h:143
btCollisionDispatcher::setCollisionConfiguration
void setCollisionConfiguration(btCollisionConfiguration *config)
Definition: btCollisionDispatcher.h:153
btCollisionDispatcher::getInternalManifoldPointer
btPersistentManifold ** getInternalManifoldPointer()
Definition: btCollisionDispatcher.h:89
btCollisionDispatcher::getNearCallback
btNearCallback getNearCallback() const
Definition: btCollisionDispatcher.h:131
btCollisionDispatcher::setNearCallback
void setNearCallback(btNearCallback nearCallback)
Definition: btCollisionDispatcher.h:126
btCollisionDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)
Definition: btCollisionDispatcher.cpp:68
btCollisionDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)
Definition: btCollisionDispatcher.cpp:279
btCollisionDispatcher::~btCollisionDispatcher
virtual ~btCollisionDispatcher()
Definition: btCollisionDispatcher.cpp:64
btCollisionDispatcher::m_doubleDispatchContactPoints
btCollisionAlgorithmCreateFunc * m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]
Definition: btCollisionDispatcher.h:55
btCollisionDispatcher::defaultNearCallback
static void defaultNearCallback(btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
Definition: btCollisionDispatcher.cpp:231
btCollisionDispatcher::dispatchAllCollisionPairs
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &dispatchInfo, btDispatcher *dispatcher)
Definition: btCollisionDispatcher.cpp:216
btCollisionDispatcher::m_collisionAlgorithmPoolAllocator
btPoolAllocator * m_collisionAlgorithmPoolAllocator
Definition: btCollisionDispatcher.h:51
btCollisionDispatcher::clearManifold
virtual void clearManifold(btPersistentManifold *manifold)
Definition: btCollisionDispatcher.cpp:101
btCollisionDispatcher::needsResponse
virtual bool needsResponse(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btCollisionDispatcher.cpp:147
btCollisionDispatcher::findAlgorithm
btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)
Definition: btCollisionDispatcher.cpp:128
btCollisionDispatcher::DispatcherFlags
DispatcherFlags
Definition: btCollisionDispatcher.h:63
btCollisionDispatcher::CD_STATIC_STATIC_REPORTED
@ CD_STATIC_STATIC_REPORTED
Definition: btCollisionDispatcher.h:64
btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD
@ CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD
Definition: btCollisionDispatcher.h:65
btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION
@ CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION
Definition: btCollisionDispatcher.h:66
btCollisionDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)
Definition: btCollisionDispatcher.cpp:268
btCollisionDispatcher::getCollisionConfiguration
const btCollisionConfiguration * getCollisionConfiguration() const
Definition: btCollisionDispatcher.h:148
btCollisionDispatcher::m_manifoldsPtr
btAlignedObjectArray< btPersistentManifold * > m_manifoldsPtr
Definition: btCollisionDispatcher.h:47
btCollisionDispatcher::getManifoldByIndexInternal
btPersistentManifold * getManifoldByIndexInternal(int index)
Definition: btCollisionDispatcher.h:94
btCollisionDispatcher::m_persistentManifoldPoolAllocator
btPoolAllocator * m_persistentManifoldPoolAllocator
Definition: btCollisionDispatcher.h:53
btCollisionDispatcher::getNumManifolds
int getNumManifolds() const
Definition: btCollisionDispatcher.h:84
btCollisionDispatcher::registerCollisionCreateFunc
void registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
registerCollisionCreateFunc allows registration of custom/alternative collision create functions
Definition: btCollisionDispatcher.cpp:54
btCollisionDispatcher::setDispatcherFlags
void setDispatcherFlags(int flags)
Definition: btCollisionDispatcher.h:74
btCollisionDispatcher::m_nearCallback
btNearCallback m_nearCallback
Definition: btCollisionDispatcher.h:49
btCollisionDispatcher::getInternalManifoldPool
virtual btPoolAllocator * getInternalManifoldPool()
Definition: btCollisionDispatcher.h:158
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:51
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btPoolAllocator
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
Definition: btPoolAllocator.h:24
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:179
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:27
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btDispatcherInfo
Definition: btDispatcher.h:31