btDefaultCollisionConfiguration.h

Go to the documentation of this file.

/*
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 BT_DEFAULT_COLLISION_CONFIGURATION
#define BT_DEFAULT_COLLISION_CONFIGURATION

#include "btCollisionConfiguration.h"
class btVoronoiSimplexSolver;
class btConvexPenetrationDepthSolver;

struct  btDefaultCollisionConstructionInfo
{
    btStackAlloc*       m_stackAlloc;
    btPoolAllocator*    m_persistentManifoldPool;
    btPoolAllocator*    m_collisionAlgorithmPool;
    int                 m_defaultMaxPersistentManifoldPoolSize;
    int                 m_defaultMaxCollisionAlgorithmPoolSize;
    int                 m_customCollisionAlgorithmMaxElementSize;
    int                 m_defaultStackAllocatorSize;
    int                 m_useEpaPenetrationAlgorithm;

    btDefaultCollisionConstructionInfo()
        :m_stackAlloc(0),
        m_persistentManifoldPool(0),
        m_collisionAlgorithmPool(0),
        m_defaultMaxPersistentManifoldPoolSize(4096),
        m_defaultMaxCollisionAlgorithmPoolSize(4096),
        m_customCollisionAlgorithmMaxElementSize(0),
        m_defaultStackAllocatorSize(0),
        m_useEpaPenetrationAlgorithm(true)
    {
    }
};



class   btDefaultCollisionConfiguration : public btCollisionConfiguration
{

protected:

    int m_persistentManifoldPoolSize;
    
    btStackAlloc*   m_stackAlloc;
    bool    m_ownsStackAllocator;

    btPoolAllocator*    m_persistentManifoldPool;
    bool    m_ownsPersistentManifoldPool;


    btPoolAllocator*    m_collisionAlgorithmPool;
    bool    m_ownsCollisionAlgorithmPool;

    //default simplex/penetration depth solvers
    btVoronoiSimplexSolver* m_simplexSolver;
    btConvexPenetrationDepthSolver* m_pdSolver;
    
    //default CreationFunctions, filling the m_doubleDispatch table
    btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
    btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
    btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
    btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
    btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
    btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
    btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
    btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
    btCollisionAlgorithmCreateFunc* m_boxSphereCF;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM

    btCollisionAlgorithmCreateFunc* m_boxBoxCF;
    btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
    btCollisionAlgorithmCreateFunc* m_triangleSphereCF;
    btCollisionAlgorithmCreateFunc* m_planeConvexCF;
    btCollisionAlgorithmCreateFunc* m_convexPlaneCF;
    
public:


    btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());

    virtual ~btDefaultCollisionConfiguration();

    virtual btPoolAllocator* getPersistentManifoldPool()
    {
        return m_persistentManifoldPool;
    }

    virtual btPoolAllocator* getCollisionAlgorithmPool()
    {
        return m_collisionAlgorithmPool;
    }

    virtual btStackAlloc*   getStackAllocator()
    {
        return m_stackAlloc;
    }

    virtual btVoronoiSimplexSolver* getSimplexSolver()
    {
        return m_simplexSolver;
    }


    virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);

    void    setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);

};

#endif //BT_DEFAULT_COLLISION_CONFIGURATION