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- /*
- 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_COLLISION_ALGORITHM_H
- #define BT_COLLISION_ALGORITHM_H
- #include "bullet/LinearMath/btScalar.h"
- #include "bullet/LinearMath/btAlignedObjectArray.h"
- struct btBroadphaseProxy;
- class btDispatcher;
- class btManifoldResult;
- class btCollisionObject;
- struct btCollisionObjectWrapper;
- struct btDispatcherInfo;
- class btPersistentManifold;
- typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray;
- struct btCollisionAlgorithmConstructionInfo
- {
- btCollisionAlgorithmConstructionInfo()
- :m_dispatcher1(0),
- m_manifold(0)
- {
- }
- btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
- :m_dispatcher1(dispatcher)
- {
- (void)temp;
- }
- btDispatcher* m_dispatcher1;
- btPersistentManifold* m_manifold;
- // int getDispatcherId();
- };
- ///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
- ///It is persistent over frames
- class btCollisionAlgorithm
- {
- protected:
- btDispatcher* m_dispatcher;
- protected:
- // int getDispatcherId();
-
- public:
- btCollisionAlgorithm() {};
- btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
- virtual ~btCollisionAlgorithm() {};
- virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
- virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
- virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0;
- };
- #endif //BT_COLLISION_ALGORITHM_H
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