Blender V2.61 - r43446

btSimulationIslandManager.h

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef SIMULATION_ISLAND_MANAGER_H
00017 #define SIMULATION_ISLAND_MANAGER_H
00018 
00019 #include "BulletCollision/CollisionDispatch/btUnionFind.h"
00020 #include "btCollisionCreateFunc.h"
00021 #include "LinearMath/btAlignedObjectArray.h"
00022 #include "btCollisionObject.h"
00023 
00024 class btCollisionObject;
00025 class btCollisionWorld;
00026 class btDispatcher;
00027 class btPersistentManifold;
00028 
00029 
00031 class btSimulationIslandManager
00032 {
00033     btUnionFind m_unionFind;
00034 
00035     btAlignedObjectArray<btPersistentManifold*>  m_islandmanifold;
00036     btAlignedObjectArray<btCollisionObject* >  m_islandBodies;
00037     
00038     bool m_splitIslands;
00039     
00040 public:
00041     btSimulationIslandManager();
00042     virtual ~btSimulationIslandManager();
00043 
00044 
00045     void initUnionFind(int n);  
00046     
00047         
00048     btUnionFind& getUnionFind() { return m_unionFind;}
00049 
00050     virtual void    updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher);
00051     virtual void    storeIslandActivationState(btCollisionWorld* world);
00052 
00053 
00054     void    findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld);
00055 
00056     
00057 
00058     struct  IslandCallback
00059     {
00060         virtual ~IslandCallback() {};
00061 
00062         virtual void    ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
00063     };
00064 
00065     void    buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback);
00066 
00067     void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
00068 
00069     bool getSplitIslands()
00070     {
00071         return m_splitIslands;
00072     }
00073     void setSplitIslands(bool doSplitIslands)
00074     {
00075         m_splitIslands = doSplitIslands;
00076     }
00077 
00078 };
00079 
00080 #endif //SIMULATION_ISLAND_MANAGER_H
00081