054d672592
- added heap sort and binary search/linear search to btAlignedObjectArray - fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
66 lines
3.0 KiB
C++
66 lines
3.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BVH_CONCAVE_COLLISION_ALGORITHM_H
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#define BVH_CONCAVE_COLLISION_ALGORITHM_H
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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class btDispatcher;
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "LinearMath/btAlignedObjectArray.h"
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/// btConcaveConcaveCollisionAlgorithm supports collision between btBvhTriangleMeshShape shapes
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class btConcaveConcaveCollisionAlgorithm : public btCollisionAlgorithm
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{
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protected:
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btAlignedObjectArray<btPersistentManifold*> m_mainfoldsPtr;
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public:
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btConcaveConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
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virtual ~btConcaveConcaveCollisionAlgorithm();
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virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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void clearCache();
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btPersistentManifold* newContactMainfold(btCollisionObject* body0,btCollisionObject* body1);
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struct CreateFunc :public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
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{
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return new btConcaveConcaveCollisionAlgorithm(ci,body0,body1);
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}
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};
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//! Use this function for register the algorithm externally
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static void registerAlgorithm(btCollisionDispatcher * dispatcher);
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};
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#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H
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