| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H |
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| 17 | #define SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H |
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| 18 | |
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| 19 | #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" |
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| 20 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
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| 21 | #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" |
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| 22 | #include "BulletCollision/BroadphaseCollision/btDispatcher.h" |
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| 23 | |
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| 24 | class btPersistentManifold; |
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| 25 | |
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| 26 | /// SpuContactManifoldCollisionAlgorithm provides contact manifold and should be processed on SPU. |
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| 27 | ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm |
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| 28 | { |
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| 29 | |
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| 30 | btPersistentManifold* m_manifoldPtr; |
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| 31 | int m_shapeType0; |
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| 32 | int m_shapeType1; |
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| 33 | float m_collisionMargin0; |
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| 34 | float m_collisionMargin1; |
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| 35 | |
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| 36 | |
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| 37 | public: |
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| 38 | |
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| 39 | virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
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| 40 | |
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| 41 | virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
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| 42 | |
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| 43 | SpuContactManifoldCollisionAlgorithm(); |
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| 44 | |
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| 45 | SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); |
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| 46 | |
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| 47 | virtual ~SpuContactManifoldCollisionAlgorithm(); |
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| 48 | |
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| 49 | virtual void getAllContactManifolds(btManifoldArray& manifoldArray) |
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| 50 | { |
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| 51 | if (m_manifoldPtr) |
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| 52 | manifoldArray.push_back(m_manifoldPtr); |
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| 53 | } |
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| 54 | |
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| 55 | btPersistentManifold* getContactManifoldPtr() |
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| 56 | { |
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| 57 | return m_manifoldPtr; |
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| 58 | } |
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| 59 | |
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| 60 | int getShapeType0() const |
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| 61 | { |
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| 62 | return m_shapeType0; |
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| 63 | } |
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| 64 | |
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| 65 | int getShapeType1() const |
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| 66 | { |
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| 67 | return m_shapeType1; |
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| 68 | } |
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| 69 | float getCollisionMargin0() const |
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| 70 | { |
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| 71 | return m_collisionMargin0; |
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| 72 | } |
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| 73 | float getCollisionMargin1() const |
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| 74 | { |
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| 75 | return m_collisionMargin1; |
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| 76 | } |
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| 77 | |
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| 78 | struct CreateFunc :public btCollisionAlgorithmCreateFunc |
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| 79 | { |
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| 80 | virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) |
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| 81 | { |
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| 82 | void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm)); |
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| 83 | return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0,body1); |
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| 84 | } |
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| 85 | }; |
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| 86 | |
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| 87 | }; |
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| 88 | |
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| 89 | #endif //SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H |
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