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source: code/branches/SuperOrxoBros_HS18/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h @ 12177

Last change on this file since 12177 was 12177, checked in by siramesh, 5 years ago

Super Orxo Bros Final (Sidharth Ramesh, Nisa Balta, Jeff Ren)

File size: 3.5 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef         BT_BROADPHASE_INTERFACE_H
17#define         BT_BROADPHASE_INTERFACE_H
18
19
20
21struct btDispatcherInfo;
22class btDispatcher;
23#include "btBroadphaseProxy.h"
24
25class btOverlappingPairCache;
26
27
28
29struct  btBroadphaseAabbCallback
30{
31        virtual ~btBroadphaseAabbCallback() {}
32        virtual bool    process(const btBroadphaseProxy* proxy) = 0;
33};
34
35
36struct  btBroadphaseRayCallback : public btBroadphaseAabbCallback
37{
38        ///added some cached data to accelerate ray-AABB tests
39        btVector3               m_rayDirectionInverse;
40        unsigned int    m_signs[3];
41        btScalar                m_lambda_max;
42
43        virtual ~btBroadphaseRayCallback() {}
44};
45
46#include "LinearMath/btVector3.h"
47
48///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
49///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase.
50///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class.
51class btBroadphaseInterface
52{
53public:
54        virtual ~btBroadphaseInterface() {}
55
56        virtual btBroadphaseProxy*      createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
57        virtual void    destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
58        virtual void    setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
59        virtual void    getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
60
61        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;
62
63        virtual void    aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
64
65        ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
66        virtual void    calculateOverlappingPairs(btDispatcher* dispatcher)=0;
67
68        virtual btOverlappingPairCache* getOverlappingPairCache()=0;
69        virtual const btOverlappingPairCache*   getOverlappingPairCache() const =0;
70
71        ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
72        ///will add some transform later
73        virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
74
75        ///reset broadphase internal structures, to ensure determinism/reproducability
76        virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
77
78        virtual void    printStats() = 0;
79
80};
81
82#endif //BT_BROADPHASE_INTERFACE_H
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