128 lines
4.9 KiB
C++
128 lines
4.9 KiB
C++
/*
|
|
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_DEFAULT_COLLISION_CONFIGURATION
|
|
#define BT_DEFAULT_COLLISION_CONFIGURATION
|
|
|
|
#include "btCollisionConfiguration.h"
|
|
class btVoronoiSimplexSolver;
|
|
class btConvexPenetrationDepthSolver;
|
|
|
|
struct btDefaultCollisionConstructionInfo
|
|
{
|
|
btPoolAllocator* m_persistentManifoldPool;
|
|
btPoolAllocator* m_collisionAlgorithmPool;
|
|
int m_defaultMaxPersistentManifoldPoolSize;
|
|
int m_defaultMaxCollisionAlgorithmPoolSize;
|
|
int m_customCollisionAlgorithmMaxElementSize;
|
|
int m_useEpaPenetrationAlgorithm;
|
|
|
|
btDefaultCollisionConstructionInfo()
|
|
:m_persistentManifoldPool(0),
|
|
m_collisionAlgorithmPool(0),
|
|
m_defaultMaxPersistentManifoldPoolSize(4096),
|
|
m_defaultMaxCollisionAlgorithmPoolSize(4096),
|
|
m_customCollisionAlgorithmMaxElementSize(0),
|
|
m_useEpaPenetrationAlgorithm(true)
|
|
{
|
|
}
|
|
};
|
|
|
|
|
|
|
|
///btCollisionConfiguration allows to configure Bullet collision detection
|
|
///stack allocator, pool memory allocators
|
|
///@todo: describe the meaning
|
|
class btDefaultCollisionConfiguration : public btCollisionConfiguration
|
|
{
|
|
|
|
protected:
|
|
|
|
int m_persistentManifoldPoolSize;
|
|
|
|
|
|
btPoolAllocator* m_persistentManifoldPool;
|
|
bool m_ownsPersistentManifoldPool;
|
|
|
|
|
|
btPoolAllocator* m_collisionAlgorithmPool;
|
|
bool m_ownsCollisionAlgorithmPool;
|
|
|
|
//default simplex/penetration depth solvers
|
|
btVoronoiSimplexSolver* m_simplexSolver;
|
|
btConvexPenetrationDepthSolver* m_pdSolver;
|
|
|
|
//default CreationFunctions, filling the m_doubleDispatch table
|
|
btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
|
|
btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
|
|
btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
|
|
btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
|
|
btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc;
|
|
|
|
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
|
|
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
|
|
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
|
|
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
|
|
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
|
|
|
|
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
|
|
btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
|
|
btCollisionAlgorithmCreateFunc* m_triangleSphereCF;
|
|
btCollisionAlgorithmCreateFunc* m_planeConvexCF;
|
|
btCollisionAlgorithmCreateFunc* m_convexPlaneCF;
|
|
|
|
public:
|
|
|
|
|
|
btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
|
|
|
|
virtual ~btDefaultCollisionConfiguration();
|
|
|
|
///memory pools
|
|
virtual btPoolAllocator* getPersistentManifoldPool()
|
|
{
|
|
return m_persistentManifoldPool;
|
|
}
|
|
|
|
virtual btPoolAllocator* getCollisionAlgorithmPool()
|
|
{
|
|
return m_collisionAlgorithmPool;
|
|
}
|
|
|
|
|
|
virtual btVoronoiSimplexSolver* getSimplexSolver()
|
|
{
|
|
return m_simplexSolver;
|
|
}
|
|
|
|
|
|
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
|
|
|
|
///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm.
|
|
///By default, this feature is disabled for best performance.
|
|
///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature.
|
|
///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled
|
|
///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first.
|
|
///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.
|
|
///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
|
|
void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
|
|
|
|
void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
|
|
|
|
};
|
|
|
|
#endif //BT_DEFAULT_COLLISION_CONFIGURATION
|
|
|