87 lines
3.5 KiB
C++
87 lines
3.5 KiB
C++
|
/*
|
||
|
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||
|
|
|
||
|
|
This software is provided 'as-is', without any express or implied warranty.
|
||
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
||
|
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
|
including commercial applications, and to alter it and redistribute it freely,
|
||
|
|
subject to the following restrictions:
|
||
|
|
|
||
|
|
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.
|
||
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||
|
|
3. This notice may not be removed or altered from any source distribution.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef BT_BROADPHASE_INTERFACE_H
|
||
|
|
#define BT_BROADPHASE_INTERFACE_H
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
struct btDispatcherInfo;
|
||
|
|
class btDispatcher;
|
||
|
|
#include "btBroadphaseProxy.h"
|
||
|
|
|
||
|
|
class btOverlappingPairCache;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
struct btBroadphaseAabbCallback
|
||
|
|
{
|
||
|
|
virtual ~btBroadphaseAabbCallback() {}
|
||
|
|
virtual bool process(const btBroadphaseProxy* proxy) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
|
||
|
|
{
|
||
|
|
///added some cached data to accelerate ray-AABB tests
|
||
|
|
btVector3 m_rayDirectionInverse;
|
||
|
|
unsigned int m_signs[3];
|
||
|
|
btScalar m_lambda_max;
|
||
|
|
|
||
|
|
virtual ~btBroadphaseRayCallback() {}
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
btBroadphaseRayCallback() {}
|
||
|
|
};
|
||
|
|
|
||
|
|
#include "LinearMath/btVector3.h"
|
||
|
|
|
||
|
|
///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
|
||
|
|
///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase.
|
||
|
|
///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class.
|
||
|
|
class btBroadphaseInterface
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~btBroadphaseInterface() {}
|
||
|
|
|
||
|
|
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher) =0;
|
||
|
|
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
|
||
|
|
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
|
||
|
|
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
|
||
|
|
|
||
|
|
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
|
||
|
|
|
||
|
|
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
|
||
|
|
|
||
|
|
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
|
||
|
|
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;
|
||
|
|
|
||
|
|
virtual btOverlappingPairCache* getOverlappingPairCache()=0;
|
||
|
|
virtual const btOverlappingPairCache* getOverlappingPairCache() const =0;
|
||
|
|
|
||
|
|
///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
|
||
|
|
///will add some transform later
|
||
|
|
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
|
||
|
|
|
||
|
|
///reset broadphase internal structures, to ensure determinism/reproducability
|
||
|
|
virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
|
||
|
|
|
||
|
|
virtual void printStats() = 0;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //BT_BROADPHASE_INTERFACE_H
|