1/* 2Bullet Continuous Collision Detection and Physics Library 3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 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_ALGORITHM_H 17#define BT_COLLISION_ALGORITHM_H 18 19#include "LinearMath/btScalar.h" 20#include "LinearMath/btAlignedObjectArray.h" 21 22struct btBroadphaseProxy; 23class btDispatcher; 24class btManifoldResult; 25class btCollisionObject; 26struct btCollisionObjectWrapper; 27struct btDispatcherInfo; 28class btPersistentManifold; 29 30typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray; 31 32struct btCollisionAlgorithmConstructionInfo 33{ 34 btCollisionAlgorithmConstructionInfo() 35 :m_dispatcher1(0), 36 m_manifold(0) 37 { 38 } 39 btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp) 40 :m_dispatcher1(dispatcher) 41 { 42 (void)temp; 43 } 44 45 btDispatcher* m_dispatcher1; 46 btPersistentManifold* m_manifold; 47 48// int getDispatcherId(); 49 50}; 51 52 53///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher. 54///It is persistent over frames 55class btCollisionAlgorithm 56{ 57 58protected: 59 60 btDispatcher* m_dispatcher; 61 62protected: 63// int getDispatcherId(); 64 65public: 66 67 btCollisionAlgorithm() {}; 68 69 btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci); 70 71 virtual ~btCollisionAlgorithm() {}; 72 73 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; 74 75 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; 76 77 virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0; 78}; 79 80 81#endif //BT_COLLISION_ALGORITHM_H 82