00001 /* 00002 Bullet Continuous Collision Detection and Physics Library 00003 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 00004 00005 This software is provided 'as-is', without any express or implied warranty. 00006 In no event will the authors be held liable for any damages arising from the use of this software. 00007 Permission is granted to anyone to use this software for any purpose, 00008 including commercial applications, and to alter it and redistribute it freely, 00009 subject to the following restrictions: 00010 00011 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. 00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 00013 3. This notice may not be removed or altered from any source distribution. 00014 */ 00015 00016 #ifndef BT_COLLISION_ALGORITHM_H 00017 #define BT_COLLISION_ALGORITHM_H 00018 00019 #include "LinearMath/btScalar.h" 00020 #include "LinearMath/btAlignedObjectArray.h" 00021 00022 struct btBroadphaseProxy; 00023 class btDispatcher; 00024 class btManifoldResult; 00025 class btCollisionObject; 00026 struct btCollisionObjectWrapper; 00027 struct btDispatcherInfo; 00028 class btPersistentManifold; 00029 00030 typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray; 00031 00032 struct btCollisionAlgorithmConstructionInfo 00033 { 00034 btCollisionAlgorithmConstructionInfo() 00035 :m_dispatcher1(0), 00036 m_manifold(0) 00037 { 00038 } 00039 btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp) 00040 :m_dispatcher1(dispatcher) 00041 { 00042 (void)temp; 00043 } 00044 00045 btDispatcher* m_dispatcher1; 00046 btPersistentManifold* m_manifold; 00047 00048 // int getDispatcherId(); 00049 00050 }; 00051 00052 00055 class btCollisionAlgorithm 00056 { 00057 00058 protected: 00059 00060 btDispatcher* m_dispatcher; 00061 00062 protected: 00063 // int getDispatcherId(); 00064 00065 public: 00066 00067 btCollisionAlgorithm() {}; 00068 00069 btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci); 00070 00071 virtual ~btCollisionAlgorithm() {}; 00072 00073 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; 00074 00075 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; 00076 00077 virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0; 00078 }; 00079 00080 00081 #endif //BT_COLLISION_ALGORITHM_H