91 lines
4.0 KiB
C
91 lines
4.0 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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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 BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
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#define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
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#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.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/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 "LinearMath/btAlignedObjectArray.h"
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#include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.h"
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class btDispatcher;
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class btCollisionObject;
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class btCollisionShape;
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typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
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extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
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/// btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes
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class btCompoundCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
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{
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class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
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btSimplePairArray m_removePairs;
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class btPersistentManifold* m_sharedManifold;
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bool m_ownsManifold;
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int m_compoundShapeRevision0;//to keep track of changes, so that childAlgorithm array can be updated
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int m_compoundShapeRevision1;
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void removeChildAlgorithms();
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// void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
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public:
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btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
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virtual ~btCompoundCompoundCollisionAlgorithm();
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virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
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struct CreateFunc :public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
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return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
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}
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};
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struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
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return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
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}
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};
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};
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#endif //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
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