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source: code/trunk/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @ 8577

Last change on this file since 8577 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 7.7 KB
RevLine 
[1963]1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
[8393]16#ifndef BT_BROADPHASE_PROXY_H
17#define BT_BROADPHASE_PROXY_H
[1963]18
19#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
[2430]20#include "LinearMath/btVector3.h"
[1963]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
[2430]27/// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code
[1963]28enum 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,
[2430]37        CUSTOM_POLYHEDRAL_SHAPE_TYPE,
[1963]38//implicit convex shapes
39IMPLICIT_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,
[8351]49        BOX_2D_SHAPE_PROXYTYPE,
50        CONVEX_2D_SHAPE_PROXYTYPE,
[2430]51        CUSTOM_CONVEX_SHAPE_TYPE,
[1963]52//concave shapes
53CONCAVE_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,
[2430]68        CUSTOM_CONCAVE_SHAPE_TYPE,
[1963]69CONCAVE_SHAPES_END_HERE,
70
71        COMPOUND_SHAPE_PROXYTYPE,
72
73        SOFTBODY_SHAPE_PROXYTYPE,
[2882]74        HFFLUID_SHAPE_PROXYTYPE,
75        HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
[1963]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.
85ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
86{
87
88BT_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,
[2430]98                        CharacterFilter = 32,
[1963]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;         
[2430]107        int                     m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
[1963]108
[2430]109        btVector3       m_aabbMin;
110        btVector3       m_aabbMax;
[1963]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
[2430]122        btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
[1972]123                :m_clientObject(userPtr),
[1963]124                m_collisionFilterGroup(collisionFilterGroup),
[2430]125                m_collisionFilterMask(collisionFilterMask),
126                m_aabbMin(aabbMin),
127                m_aabbMax(aabbMax)
[1963]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
[8351]144        static SIMD_FORCE_INLINE bool   isNonMoving(int proxyType)
145        {
146                return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
147        }
148
[1963]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        }
[8351]158
159        static SIMD_FORCE_INLINE bool   isSoftBody(int proxyType)
160        {
161                return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
162        }
163
[1963]164        static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
165        {
166                return (proxyType == STATIC_PLANE_PROXYTYPE);
167        }
[8351]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
[1963]174       
175}
176;
177
178class btCollisionAlgorithm;
179
180struct 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.
186ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
187{
188        btBroadphasePair ()
189                :
190        m_pProxy0(0),
191                m_pProxy1(0),
192                m_algorithm(0),
[2430]193                m_internalInfo1(0)
[1963]194        {
195        }
196
197BT_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),
[2430]203                                m_internalInfo1(other.m_internalInfo1)
[1963]204        {
205        }
206        btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
207        {
208
209                //keep them sorted, so the std::set operations work
[2882]210                if (proxy0.m_uniqueId < proxy1.m_uniqueId)
[1963]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;
[2430]222                m_internalInfo1 = 0;
[1963]223
224        }
225       
226        btBroadphaseProxy* m_pProxy0;
227        btBroadphaseProxy* m_pProxy1;
228       
229        mutable btCollisionAlgorithm* m_algorithm;
[2430]230        union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
[1963]231
232};
233
234/*
235//comparison for set operation, see Solid DT_Encounter
236SIMD_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
245class btBroadphasePairSortPredicate
246{
247        public:
248
249                bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
250                {
[2882]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) ||
[1963]258                                (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
259                }
260};
261
262
263SIMD_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
[8393]269#endif //BT_BROADPHASE_PROXY_H
[1963]270
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