110 lines
3.8 KiB
C++
110 lines
3.8 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_DISPATCHER_H
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#define BT_DISPATCHER_H
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#include "LinearMath/btScalar.h"
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class btCollisionAlgorithm;
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struct btBroadphaseProxy;
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class btRigidBody;
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class btCollisionObject;
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class btOverlappingPairCache;
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struct btCollisionObjectWrapper;
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class btPersistentManifold;
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class btPoolAllocator;
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struct btDispatcherInfo
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{
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enum DispatchFunc
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{
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DISPATCH_DISCRETE = 1,
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DISPATCH_CONTINUOUS
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};
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btDispatcherInfo()
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: m_timeStep(btScalar(0.)),
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m_stepCount(0),
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m_dispatchFunc(DISPATCH_DISCRETE),
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m_timeOfImpact(btScalar(1.)),
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m_useContinuous(true),
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m_debugDraw(0),
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m_enableSatConvex(false),
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m_enableSPU(true),
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m_useEpa(true),
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m_allowedCcdPenetration(btScalar(0.04)),
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m_useConvexConservativeDistanceUtil(false),
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m_convexConservativeDistanceThreshold(0.0f),
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m_deterministicOverlappingPairs(false)
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{
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}
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btScalar m_timeStep;
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int m_stepCount;
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int m_dispatchFunc;
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mutable btScalar m_timeOfImpact;
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bool m_useContinuous;
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class btIDebugDraw* m_debugDraw;
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bool m_enableSatConvex;
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bool m_enableSPU;
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bool m_useEpa;
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btScalar m_allowedCcdPenetration;
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bool m_useConvexConservativeDistanceUtil;
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btScalar m_convexConservativeDistanceThreshold;
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bool m_deterministicOverlappingPairs;
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};
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enum ebtDispatcherQueryType
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{
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BT_CONTACT_POINT_ALGORITHMS = 1,
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BT_CLOSEST_POINT_ALGORITHMS = 2
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};
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///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.
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///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic).
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class btDispatcher
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{
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public:
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virtual ~btDispatcher();
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virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType) = 0;
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virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1) = 0;
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virtual void releaseManifold(btPersistentManifold* manifold) = 0;
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virtual void clearManifold(btPersistentManifold* manifold) = 0;
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virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
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virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
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virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher) = 0;
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virtual int getNumManifolds() const = 0;
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virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
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virtual btPersistentManifold** getInternalManifoldPointer() = 0;
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virtual btPoolAllocator* getInternalManifoldPool() = 0;
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virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
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virtual void* allocateCollisionAlgorithm(int size) = 0;
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virtual void freeCollisionAlgorithm(void* ptr) = 0;
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};
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#endif //BT_DISPATCHER_H
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