[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef BROADPHASE_PROXY_H |
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| 17 | #define BROADPHASE_PROXY_H |
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| 18 | |
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| 19 | #include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE |
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| 20 | #include "LinearMath/btVector3.h" |
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| 21 | #include "LinearMath/btAlignedAllocator.h" |
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| 22 | |
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| 23 | |
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| 24 | /// btDispatcher uses these types |
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| 25 | /// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave |
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| 26 | /// to facilitate type checking |
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| 27 | enum BroadphaseNativeTypes |
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| 28 | { |
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| 29 | // polyhedral convex shapes |
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| 30 | BOX_SHAPE_PROXYTYPE, |
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| 31 | TRIANGLE_SHAPE_PROXYTYPE, |
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| 32 | TETRAHEDRAL_SHAPE_PROXYTYPE, |
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| 33 | CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE, |
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| 34 | CONVEX_HULL_SHAPE_PROXYTYPE, |
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| 35 | CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE, |
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| 36 | //implicit convex shapes |
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| 37 | IMPLICIT_CONVEX_SHAPES_START_HERE, |
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| 38 | SPHERE_SHAPE_PROXYTYPE, |
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| 39 | MULTI_SPHERE_SHAPE_PROXYTYPE, |
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| 40 | CAPSULE_SHAPE_PROXYTYPE, |
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| 41 | CONE_SHAPE_PROXYTYPE, |
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| 42 | CONVEX_SHAPE_PROXYTYPE, |
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| 43 | CYLINDER_SHAPE_PROXYTYPE, |
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| 44 | UNIFORM_SCALING_SHAPE_PROXYTYPE, |
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| 45 | MINKOWSKI_SUM_SHAPE_PROXYTYPE, |
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| 46 | MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE, |
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| 47 | //concave shapes |
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| 48 | CONCAVE_SHAPES_START_HERE, |
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| 49 | //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! |
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| 50 | TRIANGLE_MESH_SHAPE_PROXYTYPE, |
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| 51 | SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE, |
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| 52 | ///used for demo integration FAST/Swift collision library and Bullet |
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| 53 | FAST_CONCAVE_MESH_PROXYTYPE, |
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| 54 | //terrain |
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| 55 | TERRAIN_SHAPE_PROXYTYPE, |
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| 56 | ///Used for GIMPACT Trimesh integration |
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| 57 | GIMPACT_SHAPE_PROXYTYPE, |
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| 58 | ///Multimaterial mesh |
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| 59 | MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE, |
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| 60 | |
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| 61 | EMPTY_SHAPE_PROXYTYPE, |
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| 62 | STATIC_PLANE_PROXYTYPE, |
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| 63 | CONCAVE_SHAPES_END_HERE, |
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| 64 | |
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| 65 | COMPOUND_SHAPE_PROXYTYPE, |
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| 66 | |
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| 67 | SOFTBODY_SHAPE_PROXYTYPE, |
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| 68 | |
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| 69 | INVALID_SHAPE_PROXYTYPE, |
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| 70 | |
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| 71 | MAX_BROADPHASE_COLLISION_TYPES |
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| 72 | |
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| 73 | }; |
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| 74 | |
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| 75 | |
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| 76 | ///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. |
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| 77 | ///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody. |
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| 78 | ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy |
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| 79 | { |
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| 80 | |
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| 81 | BT_DECLARE_ALIGNED_ALLOCATOR(); |
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| 82 | |
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| 83 | ///optional filtering to cull potential collisions |
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| 84 | enum CollisionFilterGroups |
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| 85 | { |
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| 86 | DefaultFilter = 1, |
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| 87 | StaticFilter = 2, |
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| 88 | KinematicFilter = 4, |
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| 89 | DebrisFilter = 8, |
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| 90 | SensorTrigger = 16, |
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| 91 | AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger |
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| 92 | }; |
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| 93 | |
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| 94 | btVector3 m_aabbMin; |
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| 95 | btVector3 m_aabbMax; |
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| 96 | |
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| 97 | //Usually the client btCollisionObject or Rigidbody class |
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| 98 | void* m_clientObject; |
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| 99 | |
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| 100 | short int m_collisionFilterGroup; |
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| 101 | short int m_collisionFilterMask; |
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| 102 | |
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| 103 | void* m_multiSapParentProxy; |
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| 104 | |
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| 105 | |
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| 106 | int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc. |
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| 107 | |
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| 108 | SIMD_FORCE_INLINE int getUid() const |
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| 109 | { |
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| 110 | return m_uniqueId; |
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| 111 | } |
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| 112 | |
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| 113 | //used for memory pools |
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| 114 | btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0) |
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| 115 | { |
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| 116 | } |
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| 117 | |
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| 118 | btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0) |
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| 119 | :m_aabbMin(aabbMin), |
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| 120 | m_aabbMax(aabbMax), |
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| 121 | m_clientObject(userPtr), |
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| 122 | m_collisionFilterGroup(collisionFilterGroup), |
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| 123 | m_collisionFilterMask(collisionFilterMask) |
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| 124 | { |
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| 125 | m_multiSapParentProxy = multiSapParentProxy; |
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| 126 | } |
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| 127 | |
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| 128 | |
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| 129 | |
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| 130 | static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType) |
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| 131 | { |
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| 132 | return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE); |
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| 133 | } |
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| 134 | |
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| 135 | static SIMD_FORCE_INLINE bool isConvex(int proxyType) |
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| 136 | { |
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| 137 | return (proxyType < CONCAVE_SHAPES_START_HERE); |
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| 138 | } |
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| 139 | |
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| 140 | static SIMD_FORCE_INLINE bool isConcave(int proxyType) |
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| 141 | { |
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| 142 | return ((proxyType > CONCAVE_SHAPES_START_HERE) && |
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| 143 | (proxyType < CONCAVE_SHAPES_END_HERE)); |
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| 144 | } |
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| 145 | static SIMD_FORCE_INLINE bool isCompound(int proxyType) |
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| 146 | { |
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| 147 | return (proxyType == COMPOUND_SHAPE_PROXYTYPE); |
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| 148 | } |
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| 149 | static SIMD_FORCE_INLINE bool isInfinite(int proxyType) |
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| 150 | { |
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| 151 | return (proxyType == STATIC_PLANE_PROXYTYPE); |
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| 152 | } |
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| 153 | |
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| 154 | } |
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| 155 | ; |
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| 156 | |
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| 157 | class btCollisionAlgorithm; |
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| 158 | |
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| 159 | struct btBroadphaseProxy; |
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| 160 | |
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| 161 | |
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| 162 | |
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| 163 | ///The btBroadphasePair class contains a pair of aabb-overlapping objects. |
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| 164 | ///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes. |
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| 165 | ATTRIBUTE_ALIGNED16(struct) btBroadphasePair |
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| 166 | { |
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| 167 | btBroadphasePair () |
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| 168 | : |
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| 169 | m_pProxy0(0), |
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| 170 | m_pProxy1(0), |
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| 171 | m_algorithm(0), |
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| 172 | m_userInfo(0) |
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| 173 | { |
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| 174 | } |
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| 175 | |
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| 176 | BT_DECLARE_ALIGNED_ALLOCATOR(); |
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| 177 | |
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| 178 | btBroadphasePair(const btBroadphasePair& other) |
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| 179 | : m_pProxy0(other.m_pProxy0), |
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| 180 | m_pProxy1(other.m_pProxy1), |
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| 181 | m_algorithm(other.m_algorithm), |
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| 182 | m_userInfo(other.m_userInfo) |
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| 183 | { |
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| 184 | } |
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| 185 | btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1) |
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| 186 | { |
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| 187 | |
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| 188 | //keep them sorted, so the std::set operations work |
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| 189 | if (&proxy0 < &proxy1) |
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| 190 | { |
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| 191 | m_pProxy0 = &proxy0; |
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| 192 | m_pProxy1 = &proxy1; |
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| 193 | } |
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| 194 | else |
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| 195 | { |
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| 196 | m_pProxy0 = &proxy1; |
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| 197 | m_pProxy1 = &proxy0; |
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| 198 | } |
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| 199 | |
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| 200 | m_algorithm = 0; |
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| 201 | m_userInfo = 0; |
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| 202 | |
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| 203 | } |
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| 204 | |
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| 205 | btBroadphaseProxy* m_pProxy0; |
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| 206 | btBroadphaseProxy* m_pProxy1; |
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| 207 | |
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| 208 | mutable btCollisionAlgorithm* m_algorithm; |
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| 209 | mutable void* m_userInfo; |
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| 210 | |
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| 211 | }; |
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| 212 | |
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| 213 | /* |
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| 214 | //comparison for set operation, see Solid DT_Encounter |
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| 215 | SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) |
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| 216 | { |
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| 217 | return a.m_pProxy0 < b.m_pProxy0 || |
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| 218 | (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); |
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| 219 | } |
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| 220 | */ |
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| 221 | |
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| 222 | |
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| 223 | |
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| 224 | class btBroadphasePairSortPredicate |
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| 225 | { |
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| 226 | public: |
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| 227 | |
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| 228 | bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) |
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| 229 | { |
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| 230 | return a.m_pProxy0 > b.m_pProxy0 || |
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| 231 | (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) || |
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| 232 | (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); |
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| 233 | } |
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| 234 | }; |
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| 235 | |
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| 236 | |
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| 237 | SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) |
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| 238 | { |
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| 239 | return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1); |
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| 240 | } |
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| 241 | |
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| 242 | |
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| 243 | #endif //BROADPHASE_PROXY_H |
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| 244 | |
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