| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| #ifndef SIMULATION_ISLAND_MANAGER_H |
| #define SIMULATION_ISLAND_MANAGER_H |
| |
| #include "BulletCollision/CollisionDispatch/btUnionFind.h" |
| #include "btCollisionCreateFunc.h" |
| #include "LinearMath/btAlignedObjectArray.h" |
| #include "btCollisionObject.h" |
| |
| class btCollisionObject; |
| class btCollisionWorld; |
| class btDispatcher; |
| class btPersistentManifold; |
| |
| |
| ///SimulationIslandManager creates and handles simulation islands, using btUnionFind |
| class btSimulationIslandManager |
| { |
| btUnionFind m_unionFind; |
| |
| btAlignedObjectArray<btPersistentManifold*> m_islandmanifold; |
| btAlignedObjectArray<btCollisionObject* > m_islandBodies; |
| |
| bool m_splitIslands; |
| |
| public: |
| btSimulationIslandManager(); |
| virtual ~btSimulationIslandManager(); |
| |
| |
| void initUnionFind(int n); |
| |
| |
| btUnionFind& getUnionFind() { return m_unionFind;} |
| |
| virtual void updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher); |
| virtual void storeIslandActivationState(btCollisionWorld* world); |
| |
| |
| void findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld); |
| |
| |
| |
| struct IslandCallback |
| { |
| virtual ~IslandCallback() {}; |
| |
| virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0; |
| }; |
| |
| void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback); |
| |
| void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld); |
| |
| bool getSplitIslands() |
| { |
| return m_splitIslands; |
| } |
| void setSplitIslands(bool doSplitIslands) |
| { |
| m_splitIslands = doSplitIslands; |
| } |
| |
| }; |
| |
| #endif //SIMULATION_ISLAND_MANAGER_H |
| |