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
27 enum BroadphaseNativeTypes
28 {
29 // polyhedral convex shapes
30 BOX_SHAPE_PROXYTYPE,
31 TRIANGLE_SHAPE_PROXYTYPE,
32 TETRAHEDRAL_SHAPE_PROXYTYPE,
33 CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
34 CONVEX_HULL_SHAPE_PROXYTYPE,
35 CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
36 CUSTOM_POLYHEDRAL_SHAPE_TYPE,
37 //implicit convex shapes
38 IMPLICIT_CONVEX_SHAPES_START_HERE,
39 SPHERE_SHAPE_PROXYTYPE,
40 MULTI_SPHERE_SHAPE_PROXYTYPE,
41 CAPSULE_SHAPE_PROXYTYPE,
42 CONE_SHAPE_PROXYTYPE,
43 CONVEX_SHAPE_PROXYTYPE,
44 CYLINDER_SHAPE_PROXYTYPE,
45 UNIFORM_SCALING_SHAPE_PROXYTYPE,
46 MINKOWSKI_SUM_SHAPE_PROXYTYPE,
47 MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
48 BOX_2D_SHAPE_PROXYTYPE,
49 CONVEX_2D_SHAPE_PROXYTYPE,
50 CUSTOM_CONVEX_SHAPE_TYPE,
51 //concave shapes
52 CONCAVE_SHAPES_START_HERE,
53 //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
54 TRIANGLE_MESH_SHAPE_PROXYTYPE,
55 SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
57 FAST_CONCAVE_MESH_PROXYTYPE,
58 //terrain
59 TERRAIN_SHAPE_PROXYTYPE,
61 GIMPACT_SHAPE_PROXYTYPE,
63 MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
64
65 EMPTY_SHAPE_PROXYTYPE,
66 STATIC_PLANE_PROXYTYPE,
67 CUSTOM_CONCAVE_SHAPE_TYPE,
68 SDF_SHAPE_PROXYTYPE = 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
84 ATTRIBUTE_ALIGNED16(struct)
85 btBroadphaseProxy
86 {
87 BT_DECLARE_ALIGNED_ALLOCATOR();
88
90 enum CollisionFilterGroups
91 {
92 DefaultFilter = 1,
93 StaticFilter = 2,
94 KinematicFilter = 4,
95 DebrisFilter = 8,
96 SensorTrigger = 16,
97 CharacterFilter = 32,
98 AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
99 };
100
101 //Usually the client btCollisionObject or Rigidbody class
102 void* m_clientObject;
103 int m_collisionFilterGroup;
104 int m_collisionFilterMask;
105
106 int m_uniqueId; //m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
107
108 btVector3 m_aabbMin;
109 btVector3 m_aabbMax;
110
111 SIMD_FORCE_INLINE int getUid() const
112 {
113 return m_uniqueId;
114 }
115
116 //used for memory pools
117 btBroadphaseProxy() : m_clientObject(0)
118 {
119 }
120
121 btBroadphaseProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
122 : m_clientObject(userPtr),
123 m_collisionFilterGroup(collisionFilterGroup),
124 m_collisionFilterMask(collisionFilterMask),
125 m_aabbMin(aabbMin),
126 m_aabbMax(aabbMax)
127 {
128 }
129
130 static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
131 {
132 return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
133 }
134
135 static SIMD_FORCE_INLINE bool isConvex(int proxyType)
136 {
137 return (proxyType < CONCAVE_SHAPES_START_HERE);
138 }
139
140 static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
141 {
142 return (isConcave(proxyType) && !(proxyType == GIMPACT_SHAPE_PROXYTYPE));
143 }
144
145 static SIMD_FORCE_INLINE bool isConcave(int proxyType)
146 {
147 return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
148 (proxyType < CONCAVE_SHAPES_END_HERE));
149 }
150 static SIMD_FORCE_INLINE bool isCompound(int proxyType)
151 {
152 return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
153 }
154
155 static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
156 {
157 return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
158 }
159
160 static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
161 {
162 return (proxyType == STATIC_PLANE_PROXYTYPE);
163 }
164
165 static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
166 {
167 return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
168 }
169 };
170
171 class btCollisionAlgorithm;
172
173 struct btBroadphaseProxy;
174
177 ATTRIBUTE_ALIGNED16(struct)
178 btBroadphasePair
179 {
180 btBroadphasePair()
181 : m_pProxy0(0),
182 m_pProxy1(0),
183 m_algorithm(0),
184 m_internalInfo1(0)
185 {
186 }
187
188 BT_DECLARE_ALIGNED_ALLOCATOR();
189
190 btBroadphasePair(const btBroadphasePair& other)
191 : m_pProxy0(other.m_pProxy0),
192 m_pProxy1(other.m_pProxy1),
193 m_algorithm(other.m_algorithm),
194 m_internalInfo1(other.m_internalInfo1)
195 {
196 }
197 btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1)
198 {
199 //keep them sorted, so the std::set operations work
200 if (proxy0.m_uniqueId < proxy1.m_uniqueId)
201 {
202 m_pProxy0 = &proxy0;
203 m_pProxy1 = &proxy1;
204 }
205 else
206 {
207 m_pProxy0 = &proxy1;
208 m_pProxy1 = &proxy0;
209 }
210
211 m_algorithm = 0;
212 m_internalInfo1 = 0;
213 }
214
215 btBroadphaseProxy* m_pProxy0;
216 btBroadphaseProxy* m_pProxy1;
217
218 mutable btCollisionAlgorithm* m_algorithm;
219 union {
220 void* m_internalInfo1;
221 int m_internalTmpValue;
222 }; //don't use this data, it will be removed in future version.
223 };
224
225 /*
226 //comparison for set operation, see Solid DT_Encounter
227 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
228 {
229 return a.m_pProxy0 < b.m_pProxy0 ||
230 (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
231 }
232 */
233
234 class btBroadphasePairSortPredicate
235 {
236 public:
237 bool operator()(const btBroadphasePair& a, const btBroadphasePair& b) const
238 {
239 const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
240 const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
241 const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
242 const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
243
244 return uidA0 > uidB0 ||
245 (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
246 (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
247 }
248 };
249
250 SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
251 {
252 return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
253 }
254
255 #endif //BT_BROADPHASE_PROXY_H
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:55
btBroadphasePairSortPredicate::operator()
bool operator()(const btBroadphasePair &a, const btBroadphasePair &b) const
Definition: btBroadphaseProxy.h:237
CONCAVE_SHAPES_START_HERE
Definition: btBroadphaseProxy.h:52
CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:35
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:47
CONE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:42
btBroadphasePair::btBroadphasePair
btBroadphasePair(const btBroadphasePair &other)
Definition: btBroadphaseProxy.h:190
SPHERE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:39
btBroadphasePair::m_internalInfo1
void * m_internalInfo1
Definition: btBroadphaseProxy.h:220
SOFTBODY_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:73
btBroadphaseProxy::isInfinite
static bool isInfinite(int proxyType)
Definition: btBroadphaseProxy.h:160
HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:75
btVector3.h
IMPLICIT_CONVEX_SHAPES_START_HERE
Definition: btBroadphaseProxy.h:38
btBroadphaseProxy::m_aabbMax
btVector3 m_aabbMax
Definition: btBroadphaseProxy.h:109
MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE
Multimaterial mesh.
Definition: btBroadphaseProxy.h:63
CAPSULE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:41
TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:54
CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:33
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btBroadphaseProxy::isCompound
static bool isCompound(int proxyType)
Definition: btBroadphaseProxy.h:150
btBroadphaseProxy::btBroadphaseProxy
btBroadphaseProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, void *userPtr, int collisionFilterGroup, int collisionFilterMask)
Definition: btBroadphaseProxy.h:121
btAlignedAllocator.h
BOX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:30
GIMPACT_SHAPE_PROXYTYPE
Used for GIMPACT Trimesh integration.
Definition: btBroadphaseProxy.h:61
btBroadphaseProxy::isNonMoving
static bool isNonMoving(int proxyType)
Definition: btBroadphaseProxy.h:140
btBroadphaseProxy::getUid
int getUid() const
Definition: btBroadphaseProxy.h:111
UNIFORM_SCALING_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:45
btBroadphaseProxy::m_collisionFilterMask
int m_collisionFilterMask
Definition: btBroadphaseProxy.h:104
MINKOWSKI_SUM_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:46
CYLINDER_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:44
INVALID_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:76
TRIANGLE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:31
BOX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:48
MULTI_SPHERE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:40
btBroadphasePair::m_internalTmpValue
int m_internalTmpValue
Definition: btBroadphaseProxy.h:221
btBroadphasePair::btBroadphasePair
btBroadphasePair()
Definition: btBroadphaseProxy.h:180
TETRAHEDRAL_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:32
btBroadphaseProxy::m_clientObject
void * m_clientObject
Definition: btBroadphaseProxy.h:102
btBroadphaseProxy::m_collisionFilterGroup
int m_collisionFilterGroup
Definition: btBroadphaseProxy.h:103
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:84
btBroadphasePair::m_pProxy1
btBroadphaseProxy * m_pProxy1
Definition: btBroadphaseProxy.h:216
btBroadphasePair::m_algorithm
btCollisionAlgorithm * m_algorithm
Definition: btBroadphaseProxy.h:218
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btBroadphaseProxy::isPolyhedral
static bool isPolyhedral(int proxyType)
Definition: btBroadphaseProxy.h:130
btBroadphasePair::m_pProxy0
btBroadphaseProxy * m_pProxy0
Definition: btBroadphaseProxy.h:215
btBroadphaseProxy::isSoftBody
static bool isSoftBody(int proxyType)
Definition: btBroadphaseProxy.h:155
btBroadphaseProxy::m_aabbMin
btVector3 m_aabbMin
Definition: btBroadphaseProxy.h:108
CONVEX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:43
BroadphaseNativeTypes
BroadphaseNativeTypes
btDispatcher uses these types IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and co...
Definition: btBroadphaseProxy.h:27
CUSTOM_CONCAVE_SHAPE_TYPE
Definition: btBroadphaseProxy.h:67
CUSTOM_POLYHEDRAL_SHAPE_TYPE
Definition: btBroadphaseProxy.h:36
btBroadphasePair::btBroadphasePair
btBroadphasePair(btBroadphaseProxy &proxy0, btBroadphaseProxy &proxy1)
Definition: btBroadphaseProxy.h:197
TERRAIN_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:59
CONVEX_HULL_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:34
btBroadphasePairSortPredicate
Definition: btBroadphaseProxy.h:234
btBroadphaseProxy::m_uniqueId
int m_uniqueId
Definition: btBroadphaseProxy.h:106
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
operator==
bool operator==(const btBroadphasePair &a, const btBroadphasePair &b)
Definition: btBroadphaseProxy.h:250
btBroadphaseProxy::isConvex2d
static bool isConvex2d(int proxyType)
Definition: btBroadphaseProxy.h:165
btBroadphaseProxy::isConcave
static bool isConcave(int proxyType)
Definition: btBroadphaseProxy.h:145
SDF_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:68
CUSTOM_CONVEX_SHAPE_TYPE
Definition: btBroadphaseProxy.h:50
HFFLUID_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:74
EMPTY_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:65
COMPOUND_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:71
btBroadphaseProxy::CollisionFilterGroups
CollisionFilterGroups
optional filtering to cull potential collisions
Definition: btBroadphaseProxy.h:90
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
CONVEX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:49
btBroadphaseProxy::isConvex
static bool isConvex(int proxyType)
Definition: btBroadphaseProxy.h:135
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:57
STATIC_PLANE_PROXYTYPE
Definition: btBroadphaseProxy.h:66
btScalar.h
btBroadphaseProxy::btBroadphaseProxy
btBroadphaseProxy()
Definition: btBroadphaseProxy.h:117
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:177