btCompoundCollisionAlgorithm.h

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/*
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 COMPOUND_COLLISION_ALGORITHM_H
#define COMPOUND_COLLISION_ALGORITHM_H

#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"

#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "btCollisionCreateFunc.h"
#include "LinearMath/btAlignedObjectArray.h"
class btDispatcher;
class btCollisionObject;

class btCompoundCollisionAlgorithm  : public btActivatingCollisionAlgorithm
{
    btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
    bool m_isSwapped;

    class btPersistentManifold* m_sharedManifold;
    bool                    m_ownsManifold;

    int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
    
    void    removeChildAlgorithms();
    
    void    preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1);

public:

    btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);

    virtual ~btCompoundCollisionAlgorithm();

    virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

    btScalar    calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

    virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
    {
        int i;
        for (i=0;i<m_childCollisionAlgorithms.size();i++)
        {
            if (m_childCollisionAlgorithms[i])
                m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
        }
    }

    struct CreateFunc :public   btCollisionAlgorithmCreateFunc
    {
        virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
        {
            void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
            return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false);
        }
    };

    struct SwappedCreateFunc :public    btCollisionAlgorithmCreateFunc
    {
        virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
        {
            void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
            return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true);
        }
    };

};

#endif //COMPOUND_COLLISION_ALGORITHM_H