2020-11-16 14:47:43 +08:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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2021-12-20 18:52:45 +08:00
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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2020-11-16 14:47:43 +08:00
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_COLLISION_ALGORITHM_H
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#define BT_COLLISION_ALGORITHM_H
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#include "LinearMath/btScalar.h"
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#include "LinearMath/btAlignedObjectArray.h"
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struct btBroadphaseProxy;
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class btDispatcher;
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class btManifoldResult;
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class btCollisionObject;
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struct btCollisionObjectWrapper;
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struct btDispatcherInfo;
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class btPersistentManifold;
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typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray;
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struct btCollisionAlgorithmConstructionInfo
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{
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btCollisionAlgorithmConstructionInfo()
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: m_dispatcher1(0),
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m_manifold(0)
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{
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}
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btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher, int temp)
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: m_dispatcher1(dispatcher)
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{
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(void)temp;
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}
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btDispatcher* m_dispatcher1;
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btPersistentManifold* m_manifold;
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// int getDispatcherId();
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};
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///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
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///It is persistent over frames
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class btCollisionAlgorithm
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{
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protected:
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btDispatcher* m_dispatcher;
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protected:
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// int getDispatcherId();
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public:
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btCollisionAlgorithm(){};
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btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
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virtual ~btCollisionAlgorithm(){};
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virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
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virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
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virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0;
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};
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#endif //BT_COLLISION_ALGORITHM_H
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