btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes More...

#include <btCompoundCollisionAlgorithm.h>

Inherits btActivatingCollisionAlgorithm.

Inherited by btCompoundCompoundCollisionAlgorithm.

Classes
struct	CreateFunc
struct	SwappedCreateFunc

Public Member Functions
	btCompoundCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, bool isSwapped)
virtual	~btCompoundCollisionAlgorithm ()
btCollisionAlgorithm *	getChildAlgorithm (int n) const
virtual void	processCollision (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btScalar	calculateTimeOfImpact (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)
Public Member Functions inherited from btActivatingCollisionAlgorithm
virtual	~btActivatingCollisionAlgorithm ()
Public Member Functions inherited from btCollisionAlgorithm
	btCollisionAlgorithm ()
	btCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci)
virtual	~btCollisionAlgorithm ()

Protected Member Functions
void	removeChildAlgorithms ()
void	preallocateChildAlgorithms (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap)
Protected Member Functions inherited from btActivatingCollisionAlgorithm
	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci)
	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap)

Protected Attributes
btAlignedObjectArray< btCollisionAlgorithm * >	m_childCollisionAlgorithms
bool	m_isSwapped
class btPersistentManifold *	m_sharedManifold
bool	m_ownsManifold
int	m_compoundShapeRevision
Protected Attributes inherited from btCollisionAlgorithm
btDispatcher *	m_dispatcher

Detailed Description

btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes

Definition at line 38 of file btCompoundCollisionAlgorithm.h.

Constructor & Destructor Documentation

◆ btCompoundCollisionAlgorithm()

btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm	(	const btCollisionAlgorithmConstructionInfo &	ci,
		const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		bool	isSwapped )

Definition at line 28 of file btCompoundCollisionAlgorithm.cpp.

References btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm(), btAssert, btCompoundShape(), btCollisionObjectWrapper::getCollisionShape(), m_compoundShapeRevision, m_isSwapped, m_ownsManifold, m_sharedManifold, and preallocateChildAlgorithms().

Referenced by btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm(), btCompoundCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm(), and btCompoundCollisionAlgorithm::SwappedCreateFunc::CreateCollisionAlgorithm().

◆ ~btCompoundCollisionAlgorithm()

btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm ( )

virtual

Definition at line 89 of file btCompoundCollisionAlgorithm.cpp.

References removeChildAlgorithms().

Member Function Documentation

◆ calculateTimeOfImpact()

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

virtual

Implements btCollisionAlgorithm.

Reimplemented in btCompoundCompoundCollisionAlgorithm.

Definition at line 343 of file btCompoundCollisionAlgorithm.cpp.

References btAssert, btCollisionObject, btCompoundShape(), btTransform, frac(), i, m_childCollisionAlgorithms, and m_isSwapped.

◆ getAllContactManifolds()

virtual void btCompoundCollisionAlgorithm::getAllContactManifolds ( btManifoldArray & manifoldArray )

inlinevirtual

Implements btCollisionAlgorithm.

Reimplemented in btCompoundCompoundCollisionAlgorithm.

Definition at line 70 of file btCompoundCollisionAlgorithm.h.

References i, and m_childCollisionAlgorithms.

◆ getChildAlgorithm()

btCollisionAlgorithm * btCompoundCollisionAlgorithm::getChildAlgorithm ( int n ) const

inline

Definition at line 61 of file btCompoundCollisionAlgorithm.h.

References btCollisionAlgorithm::btCollisionAlgorithm(), and m_childCollisionAlgorithms.

◆ preallocateChildAlgorithms()

void btCompoundCollisionAlgorithm::preallocateChildAlgorithms	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap )

protected

Definition at line 44 of file btCompoundCollisionAlgorithm.cpp.

References BT_CONTACT_POINT_ALGORITHMS, btAssert, btCollisionShape, btCompoundShape(), btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), i, m_childCollisionAlgorithms, btCollisionAlgorithm::m_dispatcher, m_isSwapped, and m_sharedManifold.

Referenced by btCompoundCollisionAlgorithm(), and processCollision().

◆ processCollision()

void btCompoundCollisionAlgorithm::processCollision	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut )

virtual

btCompoundShape might have changed: /make sure the internal child collision algorithm caches are still valid

clear and update all

we need to refresh all contact manifolds note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep so we should add a 'refreshManifolds' in the btCollisionAlgorithm

Implements btCollisionAlgorithm.

Reimplemented in btCompoundCompoundCollisionAlgorithm.

Definition at line 230 of file btCompoundCollisionAlgorithm.cpp.

References ATTRIBUTE_ALIGNED16, bounds(), btAssert, btCollisionShape, btCompoundShape(), btTransform, btVector3, btDbvtAabbMm::FromMM(), btCollisionObjectWrapper::getCollisionShape(), getNumContacts(), btCollisionObjectWrapper::getWorldTransform(), i, m_childCollisionAlgorithms, btManifoldResult::m_closestPointDistanceThreshold, m_compoundShapeRevision, btCollisionAlgorithm::m_dispatcher, m_isSwapped, m_sharedManifold, preallocateChildAlgorithms(), btCompoundLeafCallback::ProcessChildShape(), btManifoldResult::refreshContactPoints(), removeChildAlgorithms(), btManifoldResult::setPersistentManifold(), TestAabbAgainstAabb2(), and tree.