btDispatcher.h

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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_DISPATCHER_H
#define BT_DISPATCHER_H
#include "LinearMath/btScalar.h"

class btCollisionAlgorithm;
struct btBroadphaseProxy;
class btRigidBody;
class   btCollisionObject;
class btOverlappingPairCache;
struct btCollisionObjectWrapper;

class btPersistentManifold;
class btPoolAllocator;

struct btDispatcherInfo
{
        enum DispatchFunc
        {
                DISPATCH_DISCRETE = 1,
                DISPATCH_CONTINUOUS
        };
        btDispatcherInfo()
                :m_timeStep(btScalar(0.)),
                m_stepCount(0),
                m_dispatchFunc(DISPATCH_DISCRETE),
                m_timeOfImpact(btScalar(1.)),
                m_useContinuous(true),
                m_debugDraw(0),
                m_enableSatConvex(false),
                m_enableSPU(true),
                m_useEpa(true),
                m_allowedCcdPenetration(btScalar(0.04)),
                m_useConvexConservativeDistanceUtil(false),
                m_convexConservativeDistanceThreshold(0.0f),
                m_deterministicOverlappingPairs(false)
        {

        }
        btScalar        m_timeStep;
        int                     m_stepCount;
        int                     m_dispatchFunc;
        mutable btScalar        m_timeOfImpact;
        bool            m_useContinuous;
        class btIDebugDraw*     m_debugDraw;
        bool            m_enableSatConvex;
        bool            m_enableSPU;
        bool            m_useEpa;
        btScalar        m_allowedCcdPenetration;
        bool            m_useConvexConservativeDistanceUtil;
        btScalar        m_convexConservativeDistanceThreshold;
        bool            m_deterministicOverlappingPairs;
};

enum ebtDispatcherQueryType
{
        BT_CONTACT_POINT_ALGORITHMS = 1,
        BT_CLOSEST_POINT_ALGORITHMS = 2
};

class btDispatcher
{


public:
        virtual ~btDispatcher() ;

        virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType) = 0;

        virtual btPersistentManifold*   getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0;

        virtual void releaseManifold(btPersistentManifold* manifold)=0;

        virtual void clearManifold(btPersistentManifold* manifold)=0;

        virtual bool    needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0;

        virtual bool    needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0;

        virtual void    dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;

        virtual int getNumManifolds() const = 0;

        virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;

        virtual btPersistentManifold**  getInternalManifoldPointer() = 0;

        virtual btPoolAllocator*        getInternalManifoldPool() = 0;

        virtual const btPoolAllocator*  getInternalManifoldPool() const = 0;

        virtual void* allocateCollisionAlgorithm(int size)  = 0;

        virtual void freeCollisionAlgorithm(void* ptr) = 0;

};


#endif //BT_DISPATCHER_H