82 lines
2.5 KiB
C
82 lines
2.5 KiB
C
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/*
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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_SIMULATION_ISLAND_MANAGER_H
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#define BT_SIMULATION_ISLAND_MANAGER_H
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#include "BulletCollision/CollisionDispatch/btUnionFind.h"
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#include "btCollisionCreateFunc.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btCollisionObject.h"
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class btCollisionObject;
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class btCollisionWorld;
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class btDispatcher;
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class btPersistentManifold;
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///SimulationIslandManager creates and handles simulation islands, using btUnionFind
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class btSimulationIslandManager
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{
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btUnionFind m_unionFind;
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btAlignedObjectArray<btPersistentManifold*> m_islandmanifold;
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btAlignedObjectArray<btCollisionObject* > m_islandBodies;
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bool m_splitIslands;
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public:
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btSimulationIslandManager();
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virtual ~btSimulationIslandManager();
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void initUnionFind(int n);
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btUnionFind& getUnionFind() { return m_unionFind;}
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virtual void updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher);
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virtual void storeIslandActivationState(btCollisionWorld* world);
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void findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld);
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struct IslandCallback
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{
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virtual ~IslandCallback() {};
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virtual void processIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
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};
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void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback);
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void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
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bool getSplitIslands()
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{
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return m_splitIslands;
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}
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void setSplitIslands(bool doSplitIslands)
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{
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m_splitIslands = doSplitIslands;
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}
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};
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#endif //BT_SIMULATION_ISLAND_MANAGER_H
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