source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h @ 10111

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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_COLLISION_OBJECT_H
#define BT_COLLISION_OBJECT_H

#include "LinearMath/btTransform.h"

//island management, m_activationState1
#define ACTIVE_TAG 1
#define ISLAND_SLEEPING 2
#define WANTS_DEACTIVATION 3
#define DISABLE_DEACTIVATION 4
#define DISABLE_SIMULATION 5

struct  btBroadphaseProxy;
class   btCollisionShape;
struct btCollisionShapeData;
#include "LinearMath/btMotionState.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"

typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;

#ifdef BT_USE_DOUBLE_PRECISION
#define btCollisionObjectData btCollisionObjectDoubleData
#define btCollisionObjectDataName "btCollisionObjectDoubleData"
#else
#define btCollisionObjectData btCollisionObjectFloatData
#define btCollisionObjectDataName "btCollisionObjectFloatData"
#endif


/// btCollisionObject can be used to manage collision detection objects. 
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
/// They can be added to the btCollisionWorld.
ATTRIBUTE_ALIGNED16(class)      btCollisionObject
{

protected:

        btTransform     m_worldTransform;

        ///m_interpolationWorldTransform is used for CCD and interpolation
        ///it can be either previous or future (predicted) transform
        btTransform     m_interpolationWorldTransform;
        //those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) 
        //without destroying the continuous interpolated motion (which uses this interpolation velocities)
        btVector3       m_interpolationLinearVelocity;
        btVector3       m_interpolationAngularVelocity;
        
        btVector3       m_anisotropicFriction;
        int                     m_hasAnisotropicFriction;
        btScalar        m_contactProcessingThreshold;   

        btBroadphaseProxy*              m_broadphaseHandle;
        btCollisionShape*               m_collisionShape;
        ///m_extensionPointer is used by some internal low-level Bullet extensions.
        void*                                   m_extensionPointer;
        
        ///m_rootCollisionShape is temporarily used to store the original collision shape
        ///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
        ///If it is NULL, the m_collisionShape is not temporarily replaced.
        btCollisionShape*               m_rootCollisionShape;

        int                             m_collisionFlags;

        int                             m_islandTag1;
        int                             m_companionId;

        int                             m_activationState1;
        btScalar                        m_deactivationTime;

        btScalar                m_friction;
        btScalar                m_restitution;

        ///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
        ///do not assign your own m_internalType unless you write a new dynamics object class.
        int                             m_internalType;

        ///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
        void*                   m_userObjectPointer;

        ///time of impact calculation
        btScalar                m_hitFraction; 
        
        ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
        btScalar                m_ccdSweptSphereRadius;

        /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
        btScalar                m_ccdMotionThreshold;
        
        /// If some object should have elaborate collision filtering by sub-classes
        int                     m_checkCollideWith;

        virtual bool    checkCollideWithOverride(btCollisionObject* /* co */)
        {
                return true;
        }

public:

        BT_DECLARE_ALIGNED_ALLOCATOR();

        enum CollisionFlags
        {
                CF_STATIC_OBJECT= 1,
                CF_KINEMATIC_OBJECT= 2,
                CF_NO_CONTACT_RESPONSE = 4,
                CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
                CF_CHARACTER_OBJECT = 16,
                CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
                CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing
        };

        enum    CollisionObjectTypes
        {
                CO_COLLISION_OBJECT =1,
                CO_RIGID_BODY=2,
                ///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
                ///It is useful for collision sensors, explosion objects, character controller etc.
                CO_GHOST_OBJECT=4,
                CO_SOFT_BODY=8,
                CO_HF_FLUID=16,
                CO_USER_TYPE=32
        };

        SIMD_FORCE_INLINE bool mergesSimulationIslands() const
        {
                ///static objects, kinematic and object without contact response don't merge islands
                return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
        }

        const btVector3& getAnisotropicFriction() const
        {
                return m_anisotropicFriction;
        }
        void    setAnisotropicFriction(const btVector3& anisotropicFriction)
        {
                m_anisotropicFriction = anisotropicFriction;
                m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
        }
        bool    hasAnisotropicFriction() const
        {
                return m_hasAnisotropicFriction!=0;
        }

        ///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
        ///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
        void    setContactProcessingThreshold( btScalar contactProcessingThreshold)
        {
                m_contactProcessingThreshold = contactProcessingThreshold;
        }
        btScalar        getContactProcessingThreshold() const
        {
                return m_contactProcessingThreshold;
        }

        SIMD_FORCE_INLINE bool          isStaticObject() const {
                return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
        }

        SIMD_FORCE_INLINE bool          isKinematicObject() const
        {
                return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
        }

        SIMD_FORCE_INLINE bool          isStaticOrKinematicObject() const
        {
                return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
        }

        SIMD_FORCE_INLINE bool          hasContactResponse() const {
                return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
        }

        
        btCollisionObject();

        virtual ~btCollisionObject();

        virtual void    setCollisionShape(btCollisionShape* collisionShape)
        {
                m_collisionShape = collisionShape;
                m_rootCollisionShape = collisionShape;
        }

        SIMD_FORCE_INLINE const btCollisionShape*       getCollisionShape() const
        {
                return m_collisionShape;
        }

        SIMD_FORCE_INLINE btCollisionShape*     getCollisionShape()
        {
                return m_collisionShape;
        }

        SIMD_FORCE_INLINE const btCollisionShape*       getRootCollisionShape() const
        {
                return m_rootCollisionShape;
        }

        SIMD_FORCE_INLINE btCollisionShape*     getRootCollisionShape()
        {
                return m_rootCollisionShape;
        }

        ///Avoid using this internal API call
        ///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.
        void    internalSetTemporaryCollisionShape(btCollisionShape* collisionShape)
        {
                m_collisionShape = collisionShape;
        }

        ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. 
        ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
        void*           internalGetExtensionPointer() const
        {
                return m_extensionPointer;
        }
        ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
        ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
        void    internalSetExtensionPointer(void* pointer)
        {
                m_extensionPointer = pointer;
        }

        SIMD_FORCE_INLINE       int     getActivationState() const { return m_activationState1;}
        
        void setActivationState(int newState);

        void    setDeactivationTime(btScalar time)
        {
                m_deactivationTime = time;
        }
        btScalar        getDeactivationTime() const
        {
                return m_deactivationTime;
        }

        void forceActivationState(int newState);

        void    activate(bool forceActivation = false);

        SIMD_FORCE_INLINE bool isActive() const
        {
                return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
        }

        void    setRestitution(btScalar rest)
        {
                m_restitution = rest;
        }
        btScalar        getRestitution() const
        {
                return m_restitution;
        }
        void    setFriction(btScalar frict)
        {
                m_friction = frict;
        }
        btScalar        getFriction() const
        {
                return m_friction;
        }

        ///reserved for Bullet internal usage
        int     getInternalType() const
        {
                return m_internalType;
        }

        btTransform&    getWorldTransform()
        {
                return m_worldTransform;
        }

        const btTransform&      getWorldTransform() const
        {
                return m_worldTransform;
        }

        void    setWorldTransform(const btTransform& worldTrans)
        {
                m_worldTransform = worldTrans;
        }


        SIMD_FORCE_INLINE btBroadphaseProxy*    getBroadphaseHandle()
        {
                return m_broadphaseHandle;
        }

        SIMD_FORCE_INLINE const btBroadphaseProxy*      getBroadphaseHandle() const
        {
                return m_broadphaseHandle;
        }

        void    setBroadphaseHandle(btBroadphaseProxy* handle)
        {
                m_broadphaseHandle = handle;
        }


        const btTransform&      getInterpolationWorldTransform() const
        {
                return m_interpolationWorldTransform;
        }

        btTransform&    getInterpolationWorldTransform()
        {
                return m_interpolationWorldTransform;
        }

        void    setInterpolationWorldTransform(const btTransform&       trans)
        {
                m_interpolationWorldTransform = trans;
        }

        void    setInterpolationLinearVelocity(const btVector3& linvel)
        {
                m_interpolationLinearVelocity = linvel;
        }

        void    setInterpolationAngularVelocity(const btVector3& angvel)
        {
                m_interpolationAngularVelocity = angvel;
        }

        const btVector3&        getInterpolationLinearVelocity() const
        {
                return m_interpolationLinearVelocity;
        }

        const btVector3&        getInterpolationAngularVelocity() const
        {
                return m_interpolationAngularVelocity;
        }

        SIMD_FORCE_INLINE int getIslandTag() const
        {
                return  m_islandTag1;
        }

        void    setIslandTag(int tag)
        {
                m_islandTag1 = tag;
        }

        SIMD_FORCE_INLINE int getCompanionId() const
        {
                return  m_companionId;
        }

        void    setCompanionId(int id)
        {
                m_companionId = id;
        }

        SIMD_FORCE_INLINE btScalar                      getHitFraction() const
        {
                return m_hitFraction; 
        }

        void    setHitFraction(btScalar hitFraction)
        {
                m_hitFraction = hitFraction;
        }

        
        SIMD_FORCE_INLINE int   getCollisionFlags() const
        {
                return m_collisionFlags;
        }

        void    setCollisionFlags(int flags)
        {
                m_collisionFlags = flags;
        }
        
        ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
        btScalar                        getCcdSweptSphereRadius() const
        {
                return m_ccdSweptSphereRadius;
        }

        ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
        void    setCcdSweptSphereRadius(btScalar radius)
        {
                m_ccdSweptSphereRadius = radius;
        }

        btScalar        getCcdMotionThreshold() const
        {
                return m_ccdMotionThreshold;
        }

        btScalar        getCcdSquareMotionThreshold() const
        {
                return m_ccdMotionThreshold*m_ccdMotionThreshold;
        }



        /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
        void    setCcdMotionThreshold(btScalar ccdMotionThreshold)
        {
                m_ccdMotionThreshold = ccdMotionThreshold;
        }

        ///users can point to their objects, userPointer is not used by Bullet
        void*   getUserPointer() const
        {
                return m_userObjectPointer;
        }
        
        ///users can point to their objects, userPointer is not used by Bullet
        void    setUserPointer(void* userPointer)
        {
                m_userObjectPointer = userPointer;
        }


        inline bool checkCollideWith(btCollisionObject* co)
        {
                if (m_checkCollideWith)
                        return checkCollideWithOverride(co);

                return true;
        }

        virtual int     calculateSerializeBufferSize()  const;

        ///fills the dataBuffer and returns the struct name (and 0 on failure)
        virtual const char*     serialize(void* dataBuffer, class btSerializer* serializer) const;

        virtual void serializeSingleObject(class btSerializer* serializer) const;

};

///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct  btCollisionObjectDoubleData
{
        void                                    *m_broadphaseHandle;
        void                                    *m_collisionShape;
        btCollisionShapeData    *m_rootCollisionShape;
        char                                    *m_name;

        btTransformDoubleData   m_worldTransform;
        btTransformDoubleData   m_interpolationWorldTransform;
        btVector3DoubleData             m_interpolationLinearVelocity;
        btVector3DoubleData             m_interpolationAngularVelocity;
        btVector3DoubleData             m_anisotropicFriction;
        double                                  m_contactProcessingThreshold;   
        double                                  m_deactivationTime;
        double                                  m_friction;
        double                                  m_restitution;
        double                                  m_hitFraction; 
        double                                  m_ccdSweptSphereRadius;
        double                                  m_ccdMotionThreshold;

        int                                             m_hasAnisotropicFriction;
        int                                             m_collisionFlags;
        int                                             m_islandTag1;
        int                                             m_companionId;
        int                                             m_activationState1;
        int                                             m_internalType;
        int                                             m_checkCollideWith;

        char    m_padding[4];
};

///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct  btCollisionObjectFloatData
{
        void                                    *m_broadphaseHandle;
        void                                    *m_collisionShape;
        btCollisionShapeData    *m_rootCollisionShape;
        char                                    *m_name;

        btTransformFloatData    m_worldTransform;
        btTransformFloatData    m_interpolationWorldTransform;
        btVector3FloatData              m_interpolationLinearVelocity;
        btVector3FloatData              m_interpolationAngularVelocity;
        btVector3FloatData              m_anisotropicFriction;
        float                                   m_contactProcessingThreshold;   
        float                                   m_deactivationTime;
        float                                   m_friction;
        float                                   m_restitution;
        float                                   m_hitFraction; 
        float                                   m_ccdSweptSphereRadius;
        float                                   m_ccdMotionThreshold;

        int                                             m_hasAnisotropicFriction;
        int                                             m_collisionFlags;
        int                                             m_islandTag1;
        int                                             m_companionId;
        int                                             m_activationState1;
        int                                             m_internalType;
        int                                             m_checkCollideWith;
};



SIMD_FORCE_INLINE       int     btCollisionObject::calculateSerializeBufferSize() const
{
        return sizeof(btCollisionObjectData);
}



#endif //BT_COLLISION_OBJECT_H