dali-physics/third-party/bullet3/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
   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 /// btDispatcher uses these types
  24 /// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
  25 /// to facilitate type checking
  26 /// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code
  27 enum BroadphaseNativeTypes
  28 {
  29         // polyhedral convex shapes
  30         BOX_SHAPE_PROXYTYPE,
  31         TRIANGLE_SHAPE_PROXYTYPE,
  32         TETRAHEDRAL_SHAPE_PROXYTYPE,
  33         CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
  34         CONVEX_HULL_SHAPE_PROXYTYPE,
  35         CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
  36         CUSTOM_POLYHEDRAL_SHAPE_TYPE,
  37         //implicit convex shapes
  38         IMPLICIT_CONVEX_SHAPES_START_HERE,
  39         SPHERE_SHAPE_PROXYTYPE,
  40         MULTI_SPHERE_SHAPE_PROXYTYPE,
  41         CAPSULE_SHAPE_PROXYTYPE,
  42         CONE_SHAPE_PROXYTYPE,
  43         CONVEX_SHAPE_PROXYTYPE,
  44         CYLINDER_SHAPE_PROXYTYPE,
  45         UNIFORM_SCALING_SHAPE_PROXYTYPE,
  46         MINKOWSKI_SUM_SHAPE_PROXYTYPE,
  47         MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
  48         BOX_2D_SHAPE_PROXYTYPE,
  49         CONVEX_2D_SHAPE_PROXYTYPE,
  50         CUSTOM_CONVEX_SHAPE_TYPE,
  51         //concave shapes
  52         CONCAVE_SHAPES_START_HERE,
  53         //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
  54         TRIANGLE_MESH_SHAPE_PROXYTYPE,
  55         SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
  56         ///used for demo integration FAST/Swift collision library and Bullet
  57         FAST_CONCAVE_MESH_PROXYTYPE,
  58         //terrain
  59         TERRAIN_SHAPE_PROXYTYPE,
  60         ///Used for GIMPACT Trimesh integration
  61         GIMPACT_SHAPE_PROXYTYPE,
  62         ///Multimaterial mesh
  63         MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
  64
  65         EMPTY_SHAPE_PROXYTYPE,
  66         STATIC_PLANE_PROXYTYPE,
  67         CUSTOM_CONCAVE_SHAPE_TYPE,
  68         SDF_SHAPE_PROXYTYPE = 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 ///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
  83 ///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
  84 ATTRIBUTE_ALIGNED16(struct)
  85 btBroadphaseProxy
  86 {
  87         BT_DECLARE_ALIGNED_ALLOCATOR();
  88
  89         ///optional filtering to cull potential collisions
  90         enum CollisionFilterGroups
  91         {
  92                 DefaultFilter = 1,
  93                 StaticFilter = 2,
  94                 KinematicFilter = 4,
  95                 DebrisFilter = 8,
  96                 SensorTrigger = 16,
  97                 CharacterFilter = 32,
  98                 AllFilter = -1  //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
  99         };
 100
 101         //Usually the client btCollisionObject or Rigidbody class
 102         void* m_clientObject;
 103         int m_collisionFilterGroup;
 104         int m_collisionFilterMask;
 105
 106         int m_uniqueId;  //m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 107
 108         btVector3 m_aabbMin;
 109         btVector3 m_aabbMax;
 110
 111         SIMD_FORCE_INLINE int getUid() const
 112         {
 113                 return m_uniqueId;
 114         }
 115
 116         //used for memory pools
 117         btBroadphaseProxy() : m_clientObject(0)
 118         {
 119         }
 120
 121         btBroadphaseProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
 122                 : m_clientObject(userPtr),
 123                   m_collisionFilterGroup(collisionFilterGroup),
 124                   m_collisionFilterMask(collisionFilterMask),
 125                   m_aabbMin(aabbMin),
 126                   m_aabbMax(aabbMax)
 127         {
 128         }
 129
 130         static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
 131         {
 132                 return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
 133         }
 134
 135         static SIMD_FORCE_INLINE bool isConvex(int proxyType)
 136         {
 137                 return (proxyType < CONCAVE_SHAPES_START_HERE);
 138         }
 139
 140         static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
 141         {
 142                 return (isConcave(proxyType) && !(proxyType == GIMPACT_SHAPE_PROXYTYPE));
 143         }
 144
 145         static SIMD_FORCE_INLINE bool isConcave(int proxyType)
 146         {
 147                 return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
 148                                 (proxyType < CONCAVE_SHAPES_END_HERE));
 149         }
 150         static SIMD_FORCE_INLINE bool isCompound(int proxyType)
 151         {
 152                 return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
 153         }
 154
 155         static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
 156         {
 157                 return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
 158         }
 159
 160         static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
 161         {
 162                 return (proxyType == STATIC_PLANE_PROXYTYPE);
 163         }
 164
 165         static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
 166         {
 167                 return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
 168         }
 169 };
 170
 171 class btCollisionAlgorithm;
 172
 173 struct btBroadphaseProxy;
 174
 175 ///The btBroadphasePair class contains a pair of aabb-overlapping objects.
 176 ///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
 177 ATTRIBUTE_ALIGNED16(struct)
 178 btBroadphasePair
 179 {
 180         btBroadphasePair()
 181                 : m_pProxy0(0),
 182                   m_pProxy1(0),
 183                   m_algorithm(0),
 184                   m_internalInfo1(0)
 185         {
 186         }
 187
 188         BT_DECLARE_ALIGNED_ALLOCATOR();
 189
 190         btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1)
 191         {
 192                 //keep them sorted, so the std::set operations work
 193                 if (proxy0.m_uniqueId < proxy1.m_uniqueId)
 194                 {
 195                         m_pProxy0 = &proxy0;
 196                         m_pProxy1 = &proxy1;
 197                 }
 198                 else
 199                 {
 200                         m_pProxy0 = &proxy1;
 201                         m_pProxy1 = &proxy0;
 202                 }
 203
 204                 m_algorithm = 0;
 205                 m_internalInfo1 = 0;
 206         }
 207
 208         btBroadphaseProxy* m_pProxy0;
 209         btBroadphaseProxy* m_pProxy1;
 210
 211         mutable btCollisionAlgorithm* m_algorithm;
 212         union {
 213                 void* m_internalInfo1;
 214                 int m_internalTmpValue;
 215         };  //don't use this data, it will be removed in future version.
 216 };
 217
 218 /*
 219 //comparison for set operation, see Solid DT_Encounter
 220 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
 221 {
 222     return a.m_pProxy0 < b.m_pProxy0 ||
 223         (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
 224 }
 225 */
 226
 227 class btBroadphasePairSortPredicate
 228 {
 229 public:
 230         bool operator()(const btBroadphasePair& a, const btBroadphasePair& b) const
 231         {
 232                 const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
 233                 const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
 234                 const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
 235                 const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
 236
 237                 return uidA0 > uidB0 ||
 238                            (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
 239                            (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
 240         }
 241 };
 242
 243 SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
 244 {
 245         return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
 246 }
 247
 248 #endif  //BT_BROADPHASE_PROXY_H