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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 
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        
00039 public:
00040        btSimulationIslandManager();
00041        virtual ~btSimulationIslandManager();
00042 
00043 
00044        void initUnionFind(int n);  
00045        
00046               
00047        btUnionFind& getUnionFind() { return m_unionFind;}
00048 
00049        virtual       void   updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher);
00050        virtual       void   storeIslandActivationState(btCollisionWorld* world);
00051 
00052 
00053        void   findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld);
00054 
00055        
00056 
00057        struct IslandCallback
00058        {
00059               virtual ~IslandCallback() {};
00060 
00061               virtual       void   ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
00062        };
00063 
00064        void   buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);
00065 
00066 };
00067 
00068 #endif //SIMULATION_ISLAND_MANAGER_H
00069