Bullet Collision Detection & Physics Library
btDefaultCollisionConfiguration.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_DEFAULT_COLLISION_CONFIGURATION
17 #define BT_DEFAULT_COLLISION_CONFIGURATION
18 
19 #include "btCollisionConfiguration.h"
20 class btVoronoiSimplexSolver;
21 class btConvexPenetrationDepthSolver;
22 
23 struct btDefaultCollisionConstructionInfo
24 {
25  btStackAlloc* m_stackAlloc;
26  btPoolAllocator* m_persistentManifoldPool;
27  btPoolAllocator* m_collisionAlgorithmPool;
28  int m_defaultMaxPersistentManifoldPoolSize;
29  int m_defaultMaxCollisionAlgorithmPoolSize;
30  int m_customCollisionAlgorithmMaxElementSize;
31  int m_defaultStackAllocatorSize;
32  int m_useEpaPenetrationAlgorithm;
33 
34  btDefaultCollisionConstructionInfo()
35  :m_stackAlloc(0),
36  m_persistentManifoldPool(0),
37  m_collisionAlgorithmPool(0),
38  m_defaultMaxPersistentManifoldPoolSize(4096),
39  m_defaultMaxCollisionAlgorithmPoolSize(4096),
40  m_customCollisionAlgorithmMaxElementSize(0),
41  m_defaultStackAllocatorSize(0),
42  m_useEpaPenetrationAlgorithm(true)
43  {
44  }
45 };
46 
47 
48 
52 class btDefaultCollisionConfiguration : public btCollisionConfiguration
53 {
54 
55 protected:
56 
57  int m_persistentManifoldPoolSize;
58 
59  btStackAlloc* m_stackAlloc;
60  bool m_ownsStackAllocator;
61 
62  btPoolAllocator* m_persistentManifoldPool;
63  bool m_ownsPersistentManifoldPool;
64 
65 
66  btPoolAllocator* m_collisionAlgorithmPool;
67  bool m_ownsCollisionAlgorithmPool;
68 
69  //default simplex/penetration depth solvers
70  btVoronoiSimplexSolver* m_simplexSolver;
71  btConvexPenetrationDepthSolver* m_pdSolver;
72 
73  //default CreationFunctions, filling the m_doubleDispatch table
74  btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
75  btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
76  btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
77  btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
78  btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
79  btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
80  btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
81  btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
82  btCollisionAlgorithmCreateFunc* m_boxSphereCF;
83 
84  btCollisionAlgorithmCreateFunc* m_boxBoxCF;
85  btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
86  btCollisionAlgorithmCreateFunc* m_triangleSphereCF;
87  btCollisionAlgorithmCreateFunc* m_planeConvexCF;
88  btCollisionAlgorithmCreateFunc* m_convexPlaneCF;
89 
90 public:
91 
92 
93  btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
94 
95  virtual ~btDefaultCollisionConfiguration();
96 
98  virtual btPoolAllocator* getPersistentManifoldPool()
99  {
100  return m_persistentManifoldPool;
101  }
102 
103  virtual btPoolAllocator* getCollisionAlgorithmPool()
104  {
105  return m_collisionAlgorithmPool;
106  }
107 
108  virtual btStackAlloc* getStackAllocator()
109  {
110  return m_stackAlloc;
111  }
112 
113  virtual btVoronoiSimplexSolver* getSimplexSolver()
114  {
115  return m_simplexSolver;
116  }
117 
118 
119  virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
120 
128  void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
129 
130  void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
131 
132 };
133 
134 #endif //BT_DEFAULT_COLLISION_CONFIGURATION
135 
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