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source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h @ 8101

Last change on this file since 8101 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

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[1963]1/*
2Bullet Continuous Collision Detection and Physics Library
[2430]3Copyright (c) 2003-2006 Erwin Coumans  http://bulletphysics.com/Bullet/
[1963]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.
[2877]7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
[1963]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
[2876]16
[1963]17/**
18 * @mainpage Bullet Documentation
19 *
20 * @section intro_sec Introduction
21 * Bullet Collision Detection & Physics SDK
22 *
23 * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
24 *
[2430]25 * There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
26 * Please visit http://www.bulletphysics.com
[1963]27 *
28 * @section install_sec Installation
29 *
30 * @subsection step1 Step 1: Download
[2430]31 * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
[1963]32 * @subsection step2 Step 2: Building
33 * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
34 * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
[2877]35 *
[2430]36 * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
[1963]37 * So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
38 * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
[2430]39 * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
[2877]40 *
[1963]41 * @subsection step3 Step 3: Testing demos
42 * Try to run and experiment with BasicDemo executable as a starting point.
43 * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
44 * The Dependencies can be seen in this documentation under Directories
[2877]45 *
[1963]46 * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation
47 * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
48 * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld.
49 * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
50 * Bullet Collision Detection can also be used without the Dynamics/Extras.
51 * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo.
52 * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
53 * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
54 *
55 * @section copyright Copyright
56 * Copyright (C) 2005-2008 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
57 * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, John McCutchan, Nathanael Presson, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
58 * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
[2877]59 *
[1963]60 */
61
[2876]62
[2877]63 
64 
[2876]65
[1963]66#ifndef COLLISION_WORLD_H
67#define COLLISION_WORLD_H
68
69class btStackAlloc;
70class btCollisionShape;
71class btConvexShape;
72class btBroadphaseInterface;
73#include "LinearMath/btVector3.h"
74#include "LinearMath/btTransform.h"
75#include "btCollisionObject.h"
[2430]76#include "btCollisionDispatcher.h"
[1963]77#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
78#include "LinearMath/btAlignedObjectArray.h"
79
80///CollisionWorld is interface and container for the collision detection
81class btCollisionWorld
82{
83
[2876]84
[2877]85       
[1963]86protected:
87
88        btAlignedObjectArray<btCollisionObject*>        m_collisionObjects;
[2876]89
[2877]90       
[1963]91        btDispatcher*   m_dispatcher1;
92
93        btDispatcherInfo        m_dispatchInfo;
94
95        btStackAlloc*   m_stackAlloc;
96
97        btBroadphaseInterface*  m_broadphasePairCache;
98
99        btIDebugDraw*   m_debugDrawer;
100
[2876]101
[2877]102       
[1963]103public:
104
105        //this constructor doesn't own the dispatcher and paircache/broadphase
106        btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);
107
108        virtual ~btCollisionWorld();
109
110        void    setBroadphase(btBroadphaseInterface*    pairCache)
111        {
112                m_broadphasePairCache = pairCache;
113        }
114
[2430]115        const btBroadphaseInterface*    getBroadphase() const
116        {
117                return m_broadphasePairCache;
118        }
119
[1963]120        btBroadphaseInterface*  getBroadphase()
121        {
122                return m_broadphasePairCache;
123        }
124
125        btOverlappingPairCache* getPairCache()
126        {
127                return m_broadphasePairCache->getOverlappingPairCache();
128        }
129
130
131        btDispatcher*   getDispatcher()
132        {
133                return m_dispatcher1;
134        }
135
136        const btDispatcher*     getDispatcher() const
137        {
138                return m_dispatcher1;
139        }
140
[2882]141        void    updateSingleAabb(btCollisionObject* colObj);
142
[1963]143        virtual void    updateAabbs();
144
[2877]145       
[1963]146        virtual void    setDebugDrawer(btIDebugDraw*    debugDrawer)
147        {
148                        m_debugDrawer = debugDrawer;
149        }
150
151        virtual btIDebugDraw*   getDebugDrawer()
152        {
153                return m_debugDrawer;
154        }
155
156
157        ///LocalShapeInfo gives extra information for complex shapes
158        ///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
159        struct  LocalShapeInfo
160        {
161                int     m_shapePart;
162                int     m_triangleIndex;
[2876]163
[2877]164               
[1963]165                //const btCollisionShape*       m_shapeTemp;
166                //const btTransform*    m_shapeLocalTransform;
167        };
168
169        struct  LocalRayResult
170        {
[2877]171                LocalRayResult(btCollisionObject*       collisionObject, 
[1963]172                        LocalShapeInfo* localShapeInfo,
173                        const btVector3&                hitNormalLocal,
174                        btScalar hitFraction)
175                :m_collisionObject(collisionObject),
176                m_localShapeInfo(localShapeInfo),
177                m_hitNormalLocal(hitNormalLocal),
178                m_hitFraction(hitFraction)
179                {
180                }
181
182                btCollisionObject*              m_collisionObject;
183                LocalShapeInfo*                 m_localShapeInfo;
184                btVector3                               m_hitNormalLocal;
185                btScalar                                m_hitFraction;
186
187        };
188
189        ///RayResultCallback is used to report new raycast results
190        struct  RayResultCallback
191        {
192                btScalar        m_closestHitFraction;
193                btCollisionObject*              m_collisionObject;
194                short int       m_collisionFilterGroup;
195                short int       m_collisionFilterMask;
[2882]196      //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
197      unsigned int m_flags;
[1963]198
199                virtual ~RayResultCallback()
200                {
201                }
202                bool    hasHit() const
203                {
204                        return (m_collisionObject != 0);
205                }
206
207                RayResultCallback()
208                        :m_closestHitFraction(btScalar(1.)),
209                        m_collisionObject(0),
210                        m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
[2882]211                        m_collisionFilterMask(btBroadphaseProxy::AllFilter),
212         //@BP Mod
213         m_flags(0)
[1963]214                {
215                }
216
217                virtual bool needsCollision(btBroadphaseProxy* proxy0) const
218                {
219                        bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
220                        collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
221                        return collides;
222                }
223
224
225                virtual btScalar        addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
226        };
227
228        struct  ClosestRayResultCallback : public RayResultCallback
229        {
230                ClosestRayResultCallback(const btVector3&       rayFromWorld,const btVector3&   rayToWorld)
231                :m_rayFromWorld(rayFromWorld),
232                m_rayToWorld(rayToWorld)
233                {
234                }
235
236                btVector3       m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
237                btVector3       m_rayToWorld;
238
239                btVector3       m_hitNormalWorld;
240                btVector3       m_hitPointWorld;
[2876]241
[2877]242                       
[1963]243                virtual btScalar        addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
244                {
245                        //caller already does the filter on the m_closestHitFraction
246                        btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
[2876]247
[2877]248                       
[1963]249                        m_closestHitFraction = rayResult.m_hitFraction;
250                        m_collisionObject = rayResult.m_collisionObject;
251                        if (normalInWorldSpace)
252                        {
253                                m_hitNormalWorld = rayResult.m_hitNormalLocal;
254                        } else
255                        {
256                                ///need to transform normal into worldspace
257                                m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
258                        }
259                        m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
260                        return rayResult.m_hitFraction;
261                }
262        };
263
264
265        struct LocalConvexResult
266        {
[2877]267                LocalConvexResult(btCollisionObject*    hitCollisionObject, 
[1963]268                        LocalShapeInfo* localShapeInfo,
269                        const btVector3&                hitNormalLocal,
270                        const btVector3&                hitPointLocal,
271                        btScalar hitFraction
272                        )
273                :m_hitCollisionObject(hitCollisionObject),
274                m_localShapeInfo(localShapeInfo),
275                m_hitNormalLocal(hitNormalLocal),
276                m_hitPointLocal(hitPointLocal),
277                m_hitFraction(hitFraction)
278                {
279                }
280
281                btCollisionObject*              m_hitCollisionObject;
282                LocalShapeInfo*                 m_localShapeInfo;
283                btVector3                               m_hitNormalLocal;
284                btVector3                               m_hitPointLocal;
285                btScalar                                m_hitFraction;
286        };
287
288        ///RayResultCallback is used to report new raycast results
289        struct  ConvexResultCallback
290        {
291                btScalar        m_closestHitFraction;
292                short int       m_collisionFilterGroup;
293                short int       m_collisionFilterMask;
[2876]294
[2877]295               
[1963]296                ConvexResultCallback()
297                        :m_closestHitFraction(btScalar(1.)),
298                        m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
299                        m_collisionFilterMask(btBroadphaseProxy::AllFilter)
300                {
301                }
302
303                virtual ~ConvexResultCallback()
304                {
305                }
[2876]306
[2877]307               
[1963]308                bool    hasHit() const
309                {
310                        return (m_closestHitFraction < btScalar(1.));
311                }
312
313
[2877]314               
[2876]315
[1963]316                virtual bool needsCollision(btBroadphaseProxy* proxy0) const
317                {
318                        bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
319                        collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
320                        return collides;
321                }
322
323                virtual btScalar        addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
324        };
325
326        struct  ClosestConvexResultCallback : public ConvexResultCallback
327        {
328                ClosestConvexResultCallback(const btVector3&    convexFromWorld,const btVector3&        convexToWorld)
329                :m_convexFromWorld(convexFromWorld),
330                m_convexToWorld(convexToWorld),
331                m_hitCollisionObject(0)
332                {
333                }
334
335                btVector3       m_convexFromWorld;//used to calculate hitPointWorld from hitFraction
336                btVector3       m_convexToWorld;
337
338                btVector3       m_hitNormalWorld;
339                btVector3       m_hitPointWorld;
340                btCollisionObject*      m_hitCollisionObject;
[2876]341
[2877]342               
[1963]343                virtual btScalar        addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
344                {
345//caller already does the filter on the m_closestHitFraction
346                        btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
[2876]347
[2877]348                                               
[1963]349                        m_closestHitFraction = convexResult.m_hitFraction;
350                        m_hitCollisionObject = convexResult.m_hitCollisionObject;
351                        if (normalInWorldSpace)
352                        {
353                                m_hitNormalWorld = convexResult.m_hitNormalLocal;
354                        } else
355                        {
356                                ///need to transform normal into worldspace
357                                m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
358                        }
359                        m_hitPointWorld = convexResult.m_hitPointLocal;
360                        return convexResult.m_hitFraction;
361                }
362        };
363
364        int     getNumCollisionObjects() const
365        {
366                return int(m_collisionObjects.size());
367        }
368
369        /// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
370        /// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
[2877]371        void    rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; 
[1963]372
373        // convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
374        // This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
[2430]375        void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback,  btScalar allowedCcdPenetration = btScalar(0.)) const;
[1963]376
377
378        /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
379        /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
380        /// This allows more customization.
381        static void     rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
382                                          btCollisionObject* collisionObject,
383                                          const btCollisionShape* collisionShape,
384                                          const btTransform& colObjWorldTransform,
385                                          RayResultCallback& resultCallback);
386
387        /// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
388        static void     objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
389                                          btCollisionObject* collisionObject,
390                                          const btCollisionShape* collisionShape,
391                                          const btTransform& colObjWorldTransform,
392                                          ConvexResultCallback& resultCallback, btScalar        allowedPenetration);
393
394        void    addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
395
396        btCollisionObjectArray& getCollisionObjectArray()
397        {
398                return m_collisionObjects;
399        }
400
401        const btCollisionObjectArray& getCollisionObjectArray() const
402        {
403                return m_collisionObjects;
404        }
405
406
407        void    removeCollisionObject(btCollisionObject* collisionObject);
408
409        virtual void    performDiscreteCollisionDetection();
410
411        btDispatcherInfo& getDispatchInfo()
412        {
413                return m_dispatchInfo;
414        }
415
416        const btDispatcherInfo& getDispatchInfo() const
417        {
418                return m_dispatchInfo;
419        }
420
421};
422
423
424#endif //COLLISION_WORLD_H
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