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- #ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
- #define BT_COMPOUND_COLLISION_ALGORITHM_H
- #include "btActivatingCollisionAlgorithm.h"
- #include "bullet/BulletCollision//BroadphaseCollision/btDispatcher.h"
- #include "bullet/BulletCollision//BroadphaseCollision/btBroadphaseInterface.h"
- #include "bullet/BulletCollision//NarrowPhaseCollision/btPersistentManifold.h"
- class btDispatcher;
- #include "bullet/BulletCollision//BroadphaseCollision/btBroadphaseProxy.h"
- #include "btCollisionCreateFunc.h"
- #include "bullet/LinearMath/btAlignedObjectArray.h"
- class btDispatcher;
- class btCollisionObject;
- class btCollisionShape;
- typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
- extern btShapePairCallback gCompoundChildShapePairCallback;
- class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
- {
- btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
- bool m_isSwapped;
- class btPersistentManifold* m_sharedManifold;
- bool m_ownsManifold;
- int m_compoundShapeRevision;
-
- void removeChildAlgorithms();
-
- void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
- public:
- btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
- virtual ~btCompoundCollisionAlgorithm();
- btCollisionAlgorithm* getChildAlgorithm (int n) const
- {
- return m_childCollisionAlgorithms[n];
- }
- virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
- btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
- virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
- {
- int i;
- for (i=0;i<m_childCollisionAlgorithms.size();i++)
- {
- if (m_childCollisionAlgorithms[i])
- m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
- }
- }
-
- struct CreateFunc :public btCollisionAlgorithmCreateFunc
- {
- virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
- {
- void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
- return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
- }
- };
- struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
- {
- virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
- {
- void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
- return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
- }
- };
- };
- #endif
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