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#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)

{

}

};

///btCollisionConfiguration allows to configure Bullet collision detection

///stack allocator, pool memory allocators

///@todo: describe the meaning

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();

///memory pools

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virtual btPoolAllocator* getPersistentManifoldPool()

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{

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return m_persistentManifoldPool;

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}

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virtual btPoolAllocator* getCollisionAlgorithmPool()

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{

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return m_collisionAlgorithmPool;

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}

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virtual btStackAlloc* getStackAllocator()

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{

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return m_stackAlloc;

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}

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virtual btVoronoiSimplexSolver* getSimplexSolver()

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{

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return m_simplexSolver;

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}

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

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///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm.

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///By default, this feature is disabled for best performance.

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///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature.

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///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled

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///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first.

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///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.

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///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.

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

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};

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#endif //BT_DEFAULT_COLLISION_CONFIGURATION

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