btDefaultCollisionConfiguration.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
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
{
        btPoolAllocator* m_persistentManifoldPool;
        btPoolAllocator* m_collisionAlgorithmPool;
        int m_defaultMaxPersistentManifoldPoolSize;
        int m_defaultMaxCollisionAlgorithmPoolSize;
        int m_customCollisionAlgorithmMaxElementSize;
        int m_useEpaPenetrationAlgorithm;
 
        btDefaultCollisionConstructionInfo()
                : m_persistentManifoldPool(0),
                  m_collisionAlgorithmPool(0),
                  m_defaultMaxPersistentManifoldPoolSize(4096),
                  m_defaultMaxCollisionAlgorithmPoolSize(4096),
                  m_customCollisionAlgorithmMaxElementSize(0),
                  m_useEpaPenetrationAlgorithm(true)
        {
        }
};
 
class btDefaultCollisionConfiguration : public btCollisionConfiguration
{
protected:
        int m_persistentManifoldPoolSize;
 
        btPoolAllocator* m_persistentManifoldPool;
        bool m_ownsPersistentManifoldPool;
 
        btPoolAllocator* m_collisionAlgorithmPool;
        bool m_ownsCollisionAlgorithmPool;
 
        //default penetration depth solver
        btConvexPenetrationDepthSolver* m_pdSolver;
 
        //default CreationFunctions, filling the m_doubleDispatch table
        btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
        btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
        btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
        btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
        btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc;
 
        btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
        btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
        btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
        btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
        btCollisionAlgorithmCreateFunc* m_boxSphereCF;
 
        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 btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1);
 
        virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
 
        void setConvexConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
 
        void setPlaneConvexMultipointIterations(int numPerturbationIterations = 3, int minimumPointsPerturbationThreshold = 3);
};
 
#endif  //BT_DEFAULT_COLLISION_CONFIGURATION