src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

   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_BROADPHASE_PROXY_H
  17 #define BT_BROADPHASE_PROXY_H
  18
  19 #include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
  20 #include "LinearMath/btVector3.h"
  21 #include "LinearMath/btAlignedAllocator.h"
  22
  23
  24 /// btDispatcher uses these types
  25 /// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
  26 /// to facilitate type checking
  27 /// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code
  28 enum BroadphaseNativeTypes
  29 {
  30         // polyhedral convex shapes
  31         BOX_SHAPE_PROXYTYPE,
  32         TRIANGLE_SHAPE_PROXYTYPE,
  33         TETRAHEDRAL_SHAPE_PROXYTYPE,
  34         CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
  35         CONVEX_HULL_SHAPE_PROXYTYPE,
  36         CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
  37         CUSTOM_POLYHEDRAL_SHAPE_TYPE,
  38 //implicit convex shapes
  39 IMPLICIT_CONVEX_SHAPES_START_HERE,
  40         SPHERE_SHAPE_PROXYTYPE,
  41         MULTI_SPHERE_SHAPE_PROXYTYPE,
  42         CAPSULE_SHAPE_PROXYTYPE,
  43         CONE_SHAPE_PROXYTYPE,
  44         CONVEX_SHAPE_PROXYTYPE,
  45         CYLINDER_SHAPE_PROXYTYPE,
  46         UNIFORM_SCALING_SHAPE_PROXYTYPE,
  47         MINKOWSKI_SUM_SHAPE_PROXYTYPE,
  48         MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
  49         BOX_2D_SHAPE_PROXYTYPE,
  50         CONVEX_2D_SHAPE_PROXYTYPE,
  51         CUSTOM_CONVEX_SHAPE_TYPE,
  52 //concave shapes
  53 CONCAVE_SHAPES_START_HERE,
  54         //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
  55         TRIANGLE_MESH_SHAPE_PROXYTYPE,
  56         SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
  57         ///used for demo integration FAST/Swift collision library and Bullet
  58         FAST_CONCAVE_MESH_PROXYTYPE,
  59         //terrain
  60         TERRAIN_SHAPE_PROXYTYPE,
  61 ///Used for GIMPACT Trimesh integration
  62         GIMPACT_SHAPE_PROXYTYPE,
  63 ///Multimaterial mesh
  64     MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
  65
  66         EMPTY_SHAPE_PROXYTYPE,
  67         STATIC_PLANE_PROXYTYPE,
  68         CUSTOM_CONCAVE_SHAPE_TYPE,
  69 CONCAVE_SHAPES_END_HERE,
  70
  71         COMPOUND_SHAPE_PROXYTYPE,
  72
  73         SOFTBODY_SHAPE_PROXYTYPE,
  74         HFFLUID_SHAPE_PROXYTYPE,
  75         HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
  76         INVALID_SHAPE_PROXYTYPE,
  77
  78         MAX_BROADPHASE_COLLISION_TYPES
  79
  80 };
  81
  82
  83 ///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
  84 ///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
  85 ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
  86 {
  87
  88 BT_DECLARE_ALIGNED_ALLOCATOR();
  89
  90         ///optional filtering to cull potential collisions
  91         enum CollisionFilterGroups
  92         {
  93                 DefaultFilter = 1,
  94                 StaticFilter = 2,
  95                 KinematicFilter = 4,
  96                 DebrisFilter = 8,
  97                         SensorTrigger = 16,
  98                         CharacterFilter = 32,
  99                 AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
 100         };
 101
 102         //Usually the client btCollisionObject or Rigidbody class
 103         void*   m_clientObject;
 104         short int m_collisionFilterGroup;
 105         short int m_collisionFilterMask;
 106         void*   m_multiSapParentProxy;
 107         int                     m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 108
 109         btVector3       m_aabbMin;
 110         btVector3       m_aabbMax;
 111
 112         SIMD_FORCE_INLINE int getUid() const
 113         {
 114                 return m_uniqueId;
 115         }
 116
 117         //used for memory pools
 118         btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
 119         {
 120         }
 121
 122         btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
 123                 :m_clientObject(userPtr),
 124                 m_collisionFilterGroup(collisionFilterGroup),
 125                 m_collisionFilterMask(collisionFilterMask),
 126                 m_aabbMin(aabbMin),
 127                 m_aabbMax(aabbMax)
 128         {
 129                 m_multiSapParentProxy = multiSapParentProxy;
 130         }
 131
 132
 133
 134         static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
 135         {
 136                 return (proxyType  < IMPLICIT_CONVEX_SHAPES_START_HERE);
 137         }
 138
 139         static SIMD_FORCE_INLINE bool   isConvex(int proxyType)
 140         {
 141                 return (proxyType < CONCAVE_SHAPES_START_HERE);
 142         }
 143
 144         static SIMD_FORCE_INLINE bool   isNonMoving(int proxyType)
 145         {
 146                 return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
 147         }
 148
 149         static SIMD_FORCE_INLINE bool   isConcave(int proxyType)
 150         {
 151                 return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
 152                         (proxyType < CONCAVE_SHAPES_END_HERE));
 153         }
 154         static SIMD_FORCE_INLINE bool   isCompound(int proxyType)
 155         {
 156                 return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
 157         }
 158
 159         static SIMD_FORCE_INLINE bool   isSoftBody(int proxyType)
 160         {
 161                 return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
 162         }
 163
 164         static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
 165         {
 166                 return (proxyType == STATIC_PLANE_PROXYTYPE);
 167         }
 168
 169         static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
 170         {
 171                 return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
 172         }
 173
 174
 175 }
 176 ;
 177
 178 class btCollisionAlgorithm;
 179
 180 struct btBroadphaseProxy;
 181
 182
 183
 184 ///The btBroadphasePair class contains a pair of aabb-overlapping objects.
 185 ///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
 186 ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
 187 {
 188         btBroadphasePair ()
 189                 :
 190         m_pProxy0(0),
 191                 m_pProxy1(0),
 192                 m_algorithm(0),
 193                 m_internalInfo1(0)
 194         {
 195         }
 196
 197 BT_DECLARE_ALIGNED_ALLOCATOR();
 198
 199         btBroadphasePair(const btBroadphasePair& other)
 200                 :               m_pProxy0(other.m_pProxy0),
 201                                 m_pProxy1(other.m_pProxy1),
 202                                 m_algorithm(other.m_algorithm),
 203                                 m_internalInfo1(other.m_internalInfo1)
 204         {
 205         }
 206         btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
 207         {
 208
 209                 //keep them sorted, so the std::set operations work
 210                 if (proxy0.m_uniqueId < proxy1.m_uniqueId)
 211         {
 212             m_pProxy0 = &proxy0;
 213             m_pProxy1 = &proxy1;
 214         }
 215         else
 216         {
 217                         m_pProxy0 = &proxy1;
 218             m_pProxy1 = &proxy0;
 219         }
 220
 221                 m_algorithm = 0;
 222                 m_internalInfo1 = 0;
 223
 224         }
 225
 226         btBroadphaseProxy* m_pProxy0;
 227         btBroadphaseProxy* m_pProxy1;
 228
 229         mutable btCollisionAlgorithm* m_algorithm;
 230         union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
 231
 232 };
 233
 234 /*
 235 //comparison for set operation, see Solid DT_Encounter
 236 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
 237 {
 238     return a.m_pProxy0 < b.m_pProxy0 ||
 239         (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
 240 }
 241 */
 242
 243
 244
 245 class btBroadphasePairSortPredicate
 246 {
 247         public:
 248
 249                 bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
 250                 {
 251                         const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
 252                         const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
 253                         const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
 254                         const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
 255
 256                          return uidA0 > uidB0 ||
 257                                 (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
 258                                 (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
 259                 }
 260 };
 261
 262
 263 SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
 264 {
 265          return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
 266 }
 267
 268
 269 #endif //BT_BROADPHASE_PROXY_H
 270