source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h @ 9699

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


/**
 * @mainpage Bullet Documentation
 *
 * @section intro_sec Introduction
 * Bullet Collision Detection & Physics SDK
 *
 * 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 ).
 *
 * The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
 * There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
 * Please visit http://www.bulletphysics.com
 *
 * @section install_sec Installation
 *
 * @subsection step1 Step 1: Download
 * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
 *
 * @subsection step2 Step 2: Building
 * Bullet main build system for all platforms is cmake, you can download http://www.cmake.org
 * cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
 * The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
 * You can also use cmake in the command-line. Here are some examples for various platforms:
 * cmake . -G "Visual Studio 9 2008"
 * cmake . -G Xcode
 * cmake . -G "Unix Makefiles"
 * Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make.
 * 
 * @subsection step3 Step 3: Testing demos
 * Try to run and experiment with BasicDemo executable as a starting point.
 * 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.
 * The Dependencies can be seen in this documentation under Directories
 * 
 * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation
 * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
 * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld.
 * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
 * Bullet Collision Detection can also be used without the Dynamics/Extras.
 * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo.
 * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
 * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
 *
 * @section copyright Copyright
 * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf
 * 
 */
 
 

#ifndef BT_COLLISION_WORLD_H
#define BT_COLLISION_WORLD_H

class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
class btSerializer;

#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btCollisionObject.h"
#include "btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "LinearMath/btAlignedObjectArray.h"

///CollisionWorld is interface and container for the collision detection
class btCollisionWorld
{

        
protected:

        btAlignedObjectArray<btCollisionObject*>        m_collisionObjects;
        
        btDispatcher*   m_dispatcher1;

        btDispatcherInfo        m_dispatchInfo;

        btStackAlloc*   m_stackAlloc;

        btBroadphaseInterface*  m_broadphasePairCache;

        btIDebugDraw*   m_debugDrawer;

        ///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs
        ///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)
        bool m_forceUpdateAllAabbs;

        void    serializeCollisionObjects(btSerializer* serializer);

public:

        //this constructor doesn't own the dispatcher and paircache/broadphase
        btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);

        virtual ~btCollisionWorld();

        void    setBroadphase(btBroadphaseInterface*    pairCache)
        {
                m_broadphasePairCache = pairCache;
        }

        const btBroadphaseInterface*    getBroadphase() const
        {
                return m_broadphasePairCache;
        }

        btBroadphaseInterface*  getBroadphase()
        {
                return m_broadphasePairCache;
        }

        btOverlappingPairCache* getPairCache()
        {
                return m_broadphasePairCache->getOverlappingPairCache();
        }


        btDispatcher*   getDispatcher()
        {
                return m_dispatcher1;
        }

        const btDispatcher*     getDispatcher() const
        {
                return m_dispatcher1;
        }

        void    updateSingleAabb(btCollisionObject* colObj);

        virtual void    updateAabbs();
        
        virtual void    setDebugDrawer(btIDebugDraw*    debugDrawer)
        {
                        m_debugDrawer = debugDrawer;
        }

        virtual btIDebugDraw*   getDebugDrawer()
        {
                return m_debugDrawer;
        }

        virtual void    debugDrawWorld();

        virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);


        ///LocalShapeInfo gives extra information for complex shapes
        ///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
        struct  LocalShapeInfo
        {
                int     m_shapePart;
                int     m_triangleIndex;
                
                //const btCollisionShape*       m_shapeTemp;
                //const btTransform*    m_shapeLocalTransform;
        };

        struct  LocalRayResult
        {
                LocalRayResult(btCollisionObject*       collisionObject, 
                        LocalShapeInfo* localShapeInfo,
                        const btVector3&                hitNormalLocal,
                        btScalar hitFraction)
                :m_collisionObject(collisionObject),
                m_localShapeInfo(localShapeInfo),
                m_hitNormalLocal(hitNormalLocal),
                m_hitFraction(hitFraction)
                {
                }

                btCollisionObject*              m_collisionObject;
                LocalShapeInfo*                 m_localShapeInfo;
                btVector3                               m_hitNormalLocal;
                btScalar                                m_hitFraction;

        };

        ///RayResultCallback is used to report new raycast results
        struct  RayResultCallback
        {
                btScalar        m_closestHitFraction;
                btCollisionObject*              m_collisionObject;
                short int       m_collisionFilterGroup;
                short int       m_collisionFilterMask;
      //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
      unsigned int m_flags;

                virtual ~RayResultCallback()
                {
                }
                bool    hasHit() const
                {
                        return (m_collisionObject != 0);
                }

                RayResultCallback()
                        :m_closestHitFraction(btScalar(1.)),
                        m_collisionObject(0),
                        m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
                        m_collisionFilterMask(btBroadphaseProxy::AllFilter),
         //@BP Mod
         m_flags(0)
                {
                }

                virtual bool needsCollision(btBroadphaseProxy* proxy0) const
                {
                        bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
                        collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
                        return collides;
                }


                virtual btScalar        addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
        };

        struct  ClosestRayResultCallback : public RayResultCallback
        {
                ClosestRayResultCallback(const btVector3&       rayFromWorld,const btVector3&   rayToWorld)
                :m_rayFromWorld(rayFromWorld),
                m_rayToWorld(rayToWorld)
                {
                }

                btVector3       m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
                btVector3       m_rayToWorld;

                btVector3       m_hitNormalWorld;
                btVector3       m_hitPointWorld;
                        
                virtual btScalar        addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
                {
                        //caller already does the filter on the m_closestHitFraction
                        btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
                        
                        m_closestHitFraction = rayResult.m_hitFraction;
                        m_collisionObject = rayResult.m_collisionObject;
                        if (normalInWorldSpace)
                        {
                                m_hitNormalWorld = rayResult.m_hitNormalLocal;
                        } else
                        {
                                ///need to transform normal into worldspace
                                m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
                        }
                        m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
                        return rayResult.m_hitFraction;
                }
        };

        struct  AllHitsRayResultCallback : public RayResultCallback
        {
                AllHitsRayResultCallback(const btVector3&       rayFromWorld,const btVector3&   rayToWorld)
                :m_rayFromWorld(rayFromWorld),
                m_rayToWorld(rayToWorld)
                {
                }

                btAlignedObjectArray<btCollisionObject*>                m_collisionObjects;

                btVector3       m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
                btVector3       m_rayToWorld;

                btAlignedObjectArray<btVector3> m_hitNormalWorld;
                btAlignedObjectArray<btVector3> m_hitPointWorld;
                btAlignedObjectArray<btScalar> m_hitFractions;
                        
                virtual btScalar        addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
                {
                        m_collisionObject = rayResult.m_collisionObject;
                        m_collisionObjects.push_back(rayResult.m_collisionObject);
                        btVector3 hitNormalWorld;
                        if (normalInWorldSpace)
                        {
                                hitNormalWorld = rayResult.m_hitNormalLocal;
                        } else
                        {
                                ///need to transform normal into worldspace
                                hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
                        }
                        m_hitNormalWorld.push_back(hitNormalWorld);
                        btVector3 hitPointWorld;
                        hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
                        m_hitPointWorld.push_back(hitPointWorld);
                        m_hitFractions.push_back(rayResult.m_hitFraction);
                        return m_closestHitFraction;
                }
        };


        struct LocalConvexResult
        {
                LocalConvexResult(btCollisionObject*    hitCollisionObject, 
                        LocalShapeInfo* localShapeInfo,
                        const btVector3&                hitNormalLocal,
                        const btVector3&                hitPointLocal,
                        btScalar hitFraction
                        )
                :m_hitCollisionObject(hitCollisionObject),
                m_localShapeInfo(localShapeInfo),
                m_hitNormalLocal(hitNormalLocal),
                m_hitPointLocal(hitPointLocal),
                m_hitFraction(hitFraction)
                {
                }

                btCollisionObject*              m_hitCollisionObject;
                LocalShapeInfo*                 m_localShapeInfo;
                btVector3                               m_hitNormalLocal;
                btVector3                               m_hitPointLocal;
                btScalar                                m_hitFraction;
        };

        ///RayResultCallback is used to report new raycast results
        struct  ConvexResultCallback
        {
                btScalar        m_closestHitFraction;
                short int       m_collisionFilterGroup;
                short int       m_collisionFilterMask;
                
                ConvexResultCallback()
                        :m_closestHitFraction(btScalar(1.)),
                        m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
                        m_collisionFilterMask(btBroadphaseProxy::AllFilter)
                {
                }

                virtual ~ConvexResultCallback()
                {
                }
                
                bool    hasHit() const
                {
                        return (m_closestHitFraction < btScalar(1.));
                }

                

                virtual bool needsCollision(btBroadphaseProxy* proxy0) const
                {
                        bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
                        collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
                        return collides;
                }

                virtual btScalar        addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
        };

        struct  ClosestConvexResultCallback : public ConvexResultCallback
        {
                ClosestConvexResultCallback(const btVector3&    convexFromWorld,const btVector3&        convexToWorld)
                :m_convexFromWorld(convexFromWorld),
                m_convexToWorld(convexToWorld),
                m_hitCollisionObject(0)
                {
                }

                btVector3       m_convexFromWorld;//used to calculate hitPointWorld from hitFraction
                btVector3       m_convexToWorld;

                btVector3       m_hitNormalWorld;
                btVector3       m_hitPointWorld;
                btCollisionObject*      m_hitCollisionObject;
                
                virtual btScalar        addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
                {
//caller already does the filter on the m_closestHitFraction
                        btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
                                                
                        m_closestHitFraction = convexResult.m_hitFraction;
                        m_hitCollisionObject = convexResult.m_hitCollisionObject;
                        if (normalInWorldSpace)
                        {
                                m_hitNormalWorld = convexResult.m_hitNormalLocal;
                        } else
                        {
                                ///need to transform normal into worldspace
                                m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
                        }
                        m_hitPointWorld = convexResult.m_hitPointLocal;
                        return convexResult.m_hitFraction;
                }
        };

        ///ContactResultCallback is used to report contact points
        struct  ContactResultCallback
        {
                short int       m_collisionFilterGroup;
                short int       m_collisionFilterMask;
                
                ContactResultCallback()
                        :m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
                        m_collisionFilterMask(btBroadphaseProxy::AllFilter)
                {
                }

                virtual ~ContactResultCallback()
                {
                }
                
                virtual bool needsCollision(btBroadphaseProxy* proxy0) const
                {
                        bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
                        collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
                        return collides;
                }

                virtual btScalar        addSingleResult(btManifoldPoint& cp,    const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
        };



        int     getNumCollisionObjects() const
        {
                return int(m_collisionObjects.size());
        }

        /// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
        /// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
        virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; 

        /// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
        /// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
        void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback,  btScalar allowedCcdPenetration = btScalar(0.)) const;

        ///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
        ///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
        void    contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);

        ///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
        ///it reports one or more contact points (including the one with deepest penetration)
        void    contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);


        /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
        /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
        /// This allows more customization.
        static void     rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
                                          btCollisionObject* collisionObject,
                                          const btCollisionShape* collisionShape,
                                          const btTransform& colObjWorldTransform,
                                          RayResultCallback& resultCallback);

        /// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
        static void     objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
                                          btCollisionObject* collisionObject,
                                          const btCollisionShape* collisionShape,
                                          const btTransform& colObjWorldTransform,
                                          ConvexResultCallback& resultCallback, btScalar        allowedPenetration);

        virtual void    addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);

        btCollisionObjectArray& getCollisionObjectArray()
        {
                return m_collisionObjects;
        }

        const btCollisionObjectArray& getCollisionObjectArray() const
        {
                return m_collisionObjects;
        }


        virtual void    removeCollisionObject(btCollisionObject* collisionObject);

        virtual void    performDiscreteCollisionDetection();

        btDispatcherInfo& getDispatchInfo()
        {
                return m_dispatchInfo;
        }

        const btDispatcherInfo& getDispatchInfo() const
        {
                return m_dispatchInfo;
        }
        
        bool    getForceUpdateAllAabbs() const
        {
                return m_forceUpdateAllAabbs;
        }
        void setForceUpdateAllAabbs( bool forceUpdateAllAabbs)
        {
                m_forceUpdateAllAabbs = forceUpdateAllAabbs;
        }

        ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)
        virtual void    serialize(btSerializer* serializer);

};


#endif //BT_COLLISION_WORLD_H