111 lines
4.8 KiB
C++
111 lines
4.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_DEFAULT_COLLISION_CONFIGURATION
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#define BT_DEFAULT_COLLISION_CONFIGURATION
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#include "btCollisionConfiguration.h"
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class btVoronoiSimplexSolver;
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class btConvexPenetrationDepthSolver;
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struct btDefaultCollisionConstructionInfo
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{
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btPoolAllocator* m_persistentManifoldPool;
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btPoolAllocator* m_collisionAlgorithmPool;
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int m_defaultMaxPersistentManifoldPoolSize;
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int m_defaultMaxCollisionAlgorithmPoolSize;
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int m_customCollisionAlgorithmMaxElementSize;
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int m_useEpaPenetrationAlgorithm;
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btDefaultCollisionConstructionInfo()
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: m_persistentManifoldPool(0),
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m_collisionAlgorithmPool(0),
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m_defaultMaxPersistentManifoldPoolSize(4096),
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m_defaultMaxCollisionAlgorithmPoolSize(4096),
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m_customCollisionAlgorithmMaxElementSize(0),
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m_useEpaPenetrationAlgorithm(true)
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{
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}
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};
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///btCollisionConfiguration allows to configure Bullet collision detection
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///stack allocator, pool memory allocators
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///@todo: describe the meaning
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class btDefaultCollisionConfiguration : public btCollisionConfiguration
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{
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protected:
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int m_persistentManifoldPoolSize;
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btPoolAllocator* m_persistentManifoldPool;
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bool m_ownsPersistentManifoldPool;
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btPoolAllocator* m_collisionAlgorithmPool;
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bool m_ownsCollisionAlgorithmPool;
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//default penetration depth solver
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btConvexPenetrationDepthSolver* m_pdSolver;
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//default CreationFunctions, filling the m_doubleDispatch table
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btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
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btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
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btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
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btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
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btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc;
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btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
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btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
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btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
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btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
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btCollisionAlgorithmCreateFunc* m_boxSphereCF;
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btCollisionAlgorithmCreateFunc* m_boxBoxCF;
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btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
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btCollisionAlgorithmCreateFunc* m_triangleSphereCF;
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btCollisionAlgorithmCreateFunc* m_planeConvexCF;
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btCollisionAlgorithmCreateFunc* m_convexPlaneCF;
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public:
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btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
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virtual ~btDefaultCollisionConfiguration();
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///memory pools
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virtual btPoolAllocator* getPersistentManifoldPool()
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{
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return m_persistentManifoldPool;
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}
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virtual btPoolAllocator* getCollisionAlgorithmPool()
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{
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return m_collisionAlgorithmPool;
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}
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virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
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virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
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///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm.
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///By default, this feature is disabled for best performance.
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///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature.
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///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled
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///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first.
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///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.
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///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
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void setConvexConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
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void setPlaneConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
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};
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#endif //BT_DEFAULT_COLLISION_CONFIGURATION
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