Merging trunk up to revision 41245.
[blender.git] / extern / bullet2 / src / BulletCollision / BroadphaseCollision / btDispatcher.h
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose, 
8 including commercial applications, and to alter it and redistribute it freely, 
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef _DISPATCHER_H
17 #define _DISPATCHER_H
18
19 #include "LinearMath/btScalar.h"
20
21 class btCollisionAlgorithm;
22 struct btBroadphaseProxy;
23 class btRigidBody;
24 class   btCollisionObject;
25 class btOverlappingPairCache;
26
27
28 class btPersistentManifold;
29 class btStackAlloc;
30
31 struct btDispatcherInfo
32 {
33         enum DispatchFunc
34         {
35                 DISPATCH_DISCRETE = 1,
36                 DISPATCH_CONTINUOUS
37         };
38         btDispatcherInfo()
39                 :m_timeStep(btScalar(0.)),
40                 m_stepCount(0),
41                 m_dispatchFunc(DISPATCH_DISCRETE),
42                 m_timeOfImpact(btScalar(1.)),
43                 m_useContinuous(false),
44                 m_debugDraw(0),
45                 m_enableSatConvex(false),
46                 m_enableSPU(true),
47                 m_useEpa(true),
48                 m_allowedCcdPenetration(btScalar(0.04)),
49                 m_useConvexConservativeDistanceUtil(false),
50                 m_convexConservativeDistanceThreshold(0.0f),
51                 m_convexMaxDistanceUseCPT(false),
52                 m_stackAllocator(0)
53         {
54
55         }
56         btScalar        m_timeStep;
57         int                     m_stepCount;
58         int                     m_dispatchFunc;
59         mutable btScalar        m_timeOfImpact;
60         bool            m_useContinuous;
61         class btIDebugDraw*     m_debugDraw;
62         bool            m_enableSatConvex;
63         bool            m_enableSPU;
64         bool            m_useEpa;
65         btScalar        m_allowedCcdPenetration;
66         bool            m_useConvexConservativeDistanceUtil;
67         btScalar        m_convexConservativeDistanceThreshold;
68         bool            m_convexMaxDistanceUseCPT;
69         btStackAlloc*   m_stackAllocator;
70 };
71
72 ///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.
73 ///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic).
74 class btDispatcher
75 {
76
77
78 public:
79         virtual ~btDispatcher() ;
80
81         virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
82
83         virtual btPersistentManifold*   getNewManifold(void* body0,void* body1)=0;
84
85         virtual void releaseManifold(btPersistentManifold* manifold)=0;
86
87         virtual void clearManifold(btPersistentManifold* manifold)=0;
88
89         virtual bool    needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
90
91         virtual bool    needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
92
93         virtual void    dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;
94
95         virtual int getNumManifolds() const = 0;
96
97         virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
98
99         virtual btPersistentManifold**  getInternalManifoldPointer() = 0;
100
101         virtual void* allocateCollisionAlgorithm(int size)  = 0;
102
103         virtual void freeCollisionAlgorithm(void* ptr) = 0;
104
105 };
106
107
108 #endif //_DISPATCHER_H