83 lines
3.5 KiB
C++
83 lines
3.5 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 BT_BROADPHASE_INTERFACE_H
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#define BT_BROADPHASE_INTERFACE_H
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struct btDispatcherInfo;
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class btDispatcher;
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#include "btBroadphaseProxy.h"
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class btOverlappingPairCache;
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struct btBroadphaseAabbCallback
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{
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virtual ~btBroadphaseAabbCallback() {}
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virtual bool process(const btBroadphaseProxy* proxy) = 0;
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};
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struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
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{
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///added some cached data to accelerate ray-AABB tests
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btVector3 m_rayDirectionInverse;
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unsigned int m_signs[3];
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btScalar m_lambda_max;
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virtual ~btBroadphaseRayCallback() {}
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};
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#include "LinearMath/btVector3.h"
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///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
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///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase.
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///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class.
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class btBroadphaseInterface
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{
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public:
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virtual ~btBroadphaseInterface() {}
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virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
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virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
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virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
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virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
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virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
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virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
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///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
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virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;
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virtual btOverlappingPairCache* getOverlappingPairCache()=0;
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virtual const btOverlappingPairCache* getOverlappingPairCache() const =0;
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///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
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///will add some transform later
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virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
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///reset broadphase internal structures, to ensure determinism/reproducability
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virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
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virtual void printStats() = 0;
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};
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#endif //BT_BROADPHASE_INTERFACE_H
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