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source: code/trunk/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @ 5781

Last change on this file since 5781 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).

  • Property svn:eol-style set to native
File size: 7.2 KB
Line 
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
16#ifndef BROADPHASE_PROXY_H
17#define BROADPHASE_PROXY_H
18
19#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
20#include "LinearMath/btVector3.h"
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
27/// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code
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,
37        CUSTOM_POLYHEDRAL_SHAPE_TYPE,
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,
49        CUSTOM_CONVEX_SHAPE_TYPE,
50//concave shapes
51CONCAVE_SHAPES_START_HERE,
52        //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
53        TRIANGLE_MESH_SHAPE_PROXYTYPE,
54        SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
55        ///used for demo integration FAST/Swift collision library and Bullet
56        FAST_CONCAVE_MESH_PROXYTYPE,
57        //terrain
58        TERRAIN_SHAPE_PROXYTYPE,
59///Used for GIMPACT Trimesh integration
60        GIMPACT_SHAPE_PROXYTYPE,
61///Multimaterial mesh
62    MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
63       
64        EMPTY_SHAPE_PROXYTYPE,
65        STATIC_PLANE_PROXYTYPE,
66        CUSTOM_CONCAVE_SHAPE_TYPE,
67CONCAVE_SHAPES_END_HERE,
68
69        COMPOUND_SHAPE_PROXYTYPE,
70
71        SOFTBODY_SHAPE_PROXYTYPE,
72        HFFLUID_SHAPE_PROXYTYPE,
73        HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
74        INVALID_SHAPE_PROXYTYPE,
75
76        MAX_BROADPHASE_COLLISION_TYPES
77       
78};
79
80
81///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
82///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
83ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
84{
85
86BT_DECLARE_ALIGNED_ALLOCATOR();
87       
88        ///optional filtering to cull potential collisions
89        enum CollisionFilterGroups
90        {
91                DefaultFilter = 1,
92                StaticFilter = 2,
93                KinematicFilter = 4,
94                DebrisFilter = 8,
95                        SensorTrigger = 16,
96                        CharacterFilter = 32,
97                AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
98        };
99
100        //Usually the client btCollisionObject or Rigidbody class
101        void*   m_clientObject;
102        short int m_collisionFilterGroup;
103        short int m_collisionFilterMask;
104        void*   m_multiSapParentProxy;         
105        int                     m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
106
107        btVector3       m_aabbMin;
108        btVector3       m_aabbMax;
109
110        SIMD_FORCE_INLINE int getUid() const
111        {
112                return m_uniqueId;
113        }
114
115        //used for memory pools
116        btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
117        {
118        }
119
120        btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
121                :m_clientObject(userPtr),
122                m_collisionFilterGroup(collisionFilterGroup),
123                m_collisionFilterMask(collisionFilterMask),
124                m_aabbMin(aabbMin),
125                m_aabbMax(aabbMax)
126        {
127                m_multiSapParentProxy = multiSapParentProxy;
128        }
129
130       
131
132        static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
133        {
134                return (proxyType  < IMPLICIT_CONVEX_SHAPES_START_HERE);
135        }
136
137        static SIMD_FORCE_INLINE bool   isConvex(int proxyType)
138        {
139                return (proxyType < CONCAVE_SHAPES_START_HERE);
140        }
141
142        static SIMD_FORCE_INLINE bool   isConcave(int proxyType)
143        {
144                return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
145                        (proxyType < CONCAVE_SHAPES_END_HERE));
146        }
147        static SIMD_FORCE_INLINE bool   isCompound(int proxyType)
148        {
149                return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
150        }
151        static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
152        {
153                return (proxyType == STATIC_PLANE_PROXYTYPE);
154        }
155       
156}
157;
158
159class btCollisionAlgorithm;
160
161struct btBroadphaseProxy;
162
163
164
165///The btBroadphasePair class contains a pair of aabb-overlapping objects.
166///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
167ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
168{
169        btBroadphasePair ()
170                :
171        m_pProxy0(0),
172                m_pProxy1(0),
173                m_algorithm(0),
174                m_internalInfo1(0)
175        {
176        }
177
178BT_DECLARE_ALIGNED_ALLOCATOR();
179
180        btBroadphasePair(const btBroadphasePair& other)
181                :               m_pProxy0(other.m_pProxy0),
182                                m_pProxy1(other.m_pProxy1),
183                                m_algorithm(other.m_algorithm),
184                                m_internalInfo1(other.m_internalInfo1)
185        {
186        }
187        btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
188        {
189
190                //keep them sorted, so the std::set operations work
191                if (proxy0.m_uniqueId < proxy1.m_uniqueId)
192        { 
193            m_pProxy0 = &proxy0; 
194            m_pProxy1 = &proxy1; 
195        }
196        else 
197        { 
198                        m_pProxy0 = &proxy1; 
199            m_pProxy1 = &proxy0; 
200        }
201
202                m_algorithm = 0;
203                m_internalInfo1 = 0;
204
205        }
206       
207        btBroadphaseProxy* m_pProxy0;
208        btBroadphaseProxy* m_pProxy1;
209       
210        mutable btCollisionAlgorithm* m_algorithm;
211        union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
212
213};
214
215/*
216//comparison for set operation, see Solid DT_Encounter
217SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
218{
219    return a.m_pProxy0 < b.m_pProxy0 ||
220        (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
221}
222*/
223
224
225
226class btBroadphasePairSortPredicate
227{
228        public:
229
230                bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
231                {
232                        const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
233                        const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
234                        const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
235                        const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
236
237                         return uidA0 > uidB0 || 
238                                (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
239                                (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
240                }
241};
242
243
244SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) 
245{
246         return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
247}
248
249
250#endif //BROADPHASE_PROXY_H
251
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