Bullet Collision Detection & Physics Library: btBroadphaseProxy.h Source File

Bullet Collision Detection & Physics Library

btBroadphaseProxy.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_BROADPHASE_PROXY_H
17 #define BT_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
28 enum 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
39 IMPLICIT_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 BOX_2D_SHAPE_PROXYTYPE,
50 CONVEX_2D_SHAPE_PROXYTYPE,
51 CUSTOM_CONVEX_SHAPE_TYPE,
52 //concave shapes
53 CONCAVE_SHAPES_START_HERE,
54 //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
55 TRIANGLE_MESH_SHAPE_PROXYTYPE,
56 SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
58 FAST_CONCAVE_MESH_PROXYTYPE,
59 //terrain
60 TERRAIN_SHAPE_PROXYTYPE,
62 GIMPACT_SHAPE_PROXYTYPE,
64 MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
65
66 EMPTY_SHAPE_PROXYTYPE,
67 STATIC_PLANE_PROXYTYPE,
68 CUSTOM_CONCAVE_SHAPE_TYPE,
69 CONCAVE_SHAPES_END_HERE,
70
71 COMPOUND_SHAPE_PROXYTYPE,
72
73 SOFTBODY_SHAPE_PROXYTYPE,
74 HFFLUID_SHAPE_PROXYTYPE,
75 HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
76 INVALID_SHAPE_PROXYTYPE,
77
78 MAX_BROADPHASE_COLLISION_TYPES
79
80 };
81
82
85 ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
86 {
87
88 BT_DECLARE_ALIGNED_ALLOCATOR();
89
91 enum CollisionFilterGroups
92 {
93 DefaultFilter = 1,
94 StaticFilter = 2,
95 KinematicFilter = 4,
96 DebrisFilter = 8,
97 SensorTrigger = 16,
98 CharacterFilter = 32,
99 AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
100 };
101
102 //Usually the client btCollisionObject or Rigidbody class
103 void* m_clientObject;
104 int m_collisionFilterGroup;
105 int m_collisionFilterMask;
106
107 int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
108
109 btVector3 m_aabbMin;
110 btVector3 m_aabbMax;
111
112 SIMD_FORCE_INLINE int getUid() const
113 {
114 return m_uniqueId;
115 }
116
117 //used for memory pools
118 btBroadphaseProxy() :m_clientObject(0)
119 {
120 }
121
122 btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask)
123 :m_clientObject(userPtr),
124 m_collisionFilterGroup(collisionFilterGroup),
125 m_collisionFilterMask(collisionFilterMask),
126 m_aabbMin(aabbMin),
127 m_aabbMax(aabbMax)
128 {
129 }
130
131
132
133 static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
134 {
135 return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
136 }
137
138 static SIMD_FORCE_INLINE bool isConvex(int proxyType)
139 {
140 return (proxyType < CONCAVE_SHAPES_START_HERE);
141 }
142
143 static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
144 {
145 return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
146 }
147
148 static SIMD_FORCE_INLINE bool isConcave(int proxyType)
149 {
150 return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
151 (proxyType < CONCAVE_SHAPES_END_HERE));
152 }
153 static SIMD_FORCE_INLINE bool isCompound(int proxyType)
154 {
155 return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
156 }
157
158 static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
159 {
160 return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
161 }
162
163 static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
164 {
165 return (proxyType == STATIC_PLANE_PROXYTYPE);
166 }
167
168 static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
169 {
170 return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
171 }
172
173
174 }
175 ;
176
177 class btCollisionAlgorithm;
178
179 struct btBroadphaseProxy;
180
181
182
185 ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
186 {
187 btBroadphasePair ()
188 :
189 m_pProxy0(0),
190 m_pProxy1(0),
191 m_algorithm(0),
192 m_internalInfo1(0)
193 {
194 }
195
196 BT_DECLARE_ALIGNED_ALLOCATOR();
197
198 btBroadphasePair(const btBroadphasePair& other)
199 : m_pProxy0(other.m_pProxy0),
200 m_pProxy1(other.m_pProxy1),
201 m_algorithm(other.m_algorithm),
202 m_internalInfo1(other.m_internalInfo1)
203 {
204 }
205 btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
206 {
207
208 //keep them sorted, so the std::set operations work
209 if (proxy0.m_uniqueId < proxy1.m_uniqueId)
210 {
211 m_pProxy0 = &proxy0;
212 m_pProxy1 = &proxy1;
213 }
214 else
215 {
216 m_pProxy0 = &proxy1;
217 m_pProxy1 = &proxy0;
218 }
219
220 m_algorithm = 0;
221 m_internalInfo1 = 0;
222
223 }
224
225 btBroadphaseProxy* m_pProxy0;
226 btBroadphaseProxy* m_pProxy1;
227
228 mutable btCollisionAlgorithm* m_algorithm;
229 union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
230
231 };
232
233 /*
234 //comparison for set operation, see Solid DT_Encounter
235 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
236 {
237 return a.m_pProxy0 < b.m_pProxy0 ||
238 (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
239 }
240 */
241
242
243
244 class btBroadphasePairSortPredicate
245 {
246 public:
247
248 bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
249 {
250 const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
251 const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
252 const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
253 const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
254
255 return uidA0 > uidB0 ||
256 (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
257 (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
258 }
259 };
260
261
262 SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
263 {
264 return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
265 }
266
267
268 #endif //BT_BROADPHASE_PROXY_H
269
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:56
CONCAVE_SHAPES_START_HERE
Definition: btBroadphaseProxy.h:53
CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:36
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:48
CONE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:43
btBroadphasePair::btBroadphasePair
btBroadphasePair(const btBroadphasePair &other)
Definition: btBroadphaseProxy.h:198
SPHERE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:40
SOFTBODY_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:73
btBroadphaseProxy::isInfinite
static bool isInfinite(int proxyType)
Definition: btBroadphaseProxy.h:163
HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:75
btVector3.h
IMPLICIT_CONVEX_SHAPES_START_HERE
Definition: btBroadphaseProxy.h:39
btBroadphaseProxy::m_aabbMax
btVector3 m_aabbMax
Definition: btBroadphaseProxy.h:110
MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE
Multimaterial mesh.
Definition: btBroadphaseProxy.h:64
CAPSULE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:42
TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:55
CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:34
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
btBroadphaseProxy::isCompound
static bool isCompound(int proxyType)
Definition: btBroadphaseProxy.h:153
btBroadphaseProxy::btBroadphaseProxy
btBroadphaseProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, void *userPtr, int collisionFilterGroup, int collisionFilterMask)
Definition: btBroadphaseProxy.h:122
btAlignedAllocator.h
BOX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:31
GIMPACT_SHAPE_PROXYTYPE
Used for GIMPACT Trimesh integration.
Definition: btBroadphaseProxy.h:62
btBroadphaseProxy::isNonMoving
static bool isNonMoving(int proxyType)
Definition: btBroadphaseProxy.h:143
btBroadphaseProxy::getUid
int getUid() const
Definition: btBroadphaseProxy.h:112
UNIFORM_SCALING_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:46
btBroadphaseProxy::m_collisionFilterMask
int m_collisionFilterMask
Definition: btBroadphaseProxy.h:105
MINKOWSKI_SUM_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:47
CYLINDER_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:45
INVALID_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:76
TRIANGLE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:32
BOX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:49
MULTI_SPHERE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:41
btBroadphasePair::m_internalTmpValue
int m_internalTmpValue
Definition: btBroadphaseProxy.h:229
btBroadphasePair::btBroadphasePair
btBroadphasePair()
Definition: btBroadphaseProxy.h:187
TETRAHEDRAL_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:33
btBroadphaseProxy::m_clientObject
void * m_clientObject
Definition: btBroadphaseProxy.h:103
btBroadphaseProxy::m_collisionFilterGroup
int m_collisionFilterGroup
Definition: btBroadphaseProxy.h:104
MAX_BROADPHASE_COLLISION_TYPES
Definition: btBroadphaseProxy.h:78
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:85
btBroadphasePair::m_pProxy1
btBroadphaseProxy * m_pProxy1
Definition: btBroadphaseProxy.h:226
btBroadphasePair::m_algorithm
btCollisionAlgorithm * m_algorithm
Definition: btBroadphaseProxy.h:228
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
btBroadphaseProxy::isPolyhedral
static bool isPolyhedral(int proxyType)
Definition: btBroadphaseProxy.h:133
btBroadphasePair::m_pProxy0
btBroadphaseProxy * m_pProxy0
Definition: btBroadphaseProxy.h:225
btBroadphaseProxy::isSoftBody
static bool isSoftBody(int proxyType)
Definition: btBroadphaseProxy.h:158
btBroadphaseProxy::m_aabbMin
btVector3 m_aabbMin
Definition: btBroadphaseProxy.h:109
CONVEX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:44
BroadphaseNativeTypes
BroadphaseNativeTypes
btDispatcher uses these types IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and co...
Definition: btBroadphaseProxy.h:28
CUSTOM_CONCAVE_SHAPE_TYPE
Definition: btBroadphaseProxy.h:68
CUSTOM_POLYHEDRAL_SHAPE_TYPE
Definition: btBroadphaseProxy.h:37
btBroadphasePair::btBroadphasePair
btBroadphasePair(btBroadphaseProxy &proxy0, btBroadphaseProxy &proxy1)
Definition: btBroadphaseProxy.h:205
TERRAIN_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:60
CONVEX_HULL_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:35
btBroadphasePairSortPredicate
Definition: btBroadphaseProxy.h:244
btBroadphaseProxy::m_uniqueId
int m_uniqueId
Definition: btBroadphaseProxy.h:107
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
operator==
bool operator==(const btBroadphasePair &a, const btBroadphasePair &b)
Definition: btBroadphaseProxy.h:262
btBroadphaseProxy::isConvex2d
static bool isConvex2d(int proxyType)
Definition: btBroadphaseProxy.h:168
btBroadphaseProxy::isConcave
static bool isConcave(int proxyType)
Definition: btBroadphaseProxy.h:148
CUSTOM_CONVEX_SHAPE_TYPE
Definition: btBroadphaseProxy.h:51
HFFLUID_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:74
EMPTY_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:66
COMPOUND_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:71
btBroadphaseProxy::CollisionFilterGroups
CollisionFilterGroups
optional filtering to cull potential collisions
Definition: btBroadphaseProxy.h:91
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
CONVEX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:50
btBroadphaseProxy::isConvex
static bool isConvex(int proxyType)
Definition: btBroadphaseProxy.h:138
CONCAVE_SHAPES_END_HERE
Definition: btBroadphaseProxy.h:69
FAST_CONCAVE_MESH_PROXYTYPE
used for demo integration FAST/Swift collision library and Bullet
Definition: btBroadphaseProxy.h:58
STATIC_PLANE_PROXYTYPE
Definition: btBroadphaseProxy.h:67
btScalar.h
btBroadphaseProxy::btBroadphaseProxy
btBroadphaseProxy()
Definition: btBroadphaseProxy.h:118
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:185