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

Bullet Collision Detection & Physics Library

btMultiBodyLinkCollider.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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_FEATHERSTONE_LINK_COLLIDER_H
17 #define BT_FEATHERSTONE_LINK_COLLIDER_H
18
19 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20
21 #include "btMultiBody.h"
22 #include "LinearMath/btSerializer.h"
23
24 #ifdef BT_USE_DOUBLE_PRECISION
25 #define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
26 #define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
27 #else
28 #define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
29 #define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
30 #endif
31
32 class btMultiBodyLinkCollider : public btCollisionObject
33 {
34 //protected:
35 public:
36 btMultiBody* m_multiBody;
37 int m_link;
38
39 virtual ~btMultiBodyLinkCollider()
40 {
41
42 }
43 btMultiBodyLinkCollider(btMultiBody* multiBody, int link)
44 : m_multiBody(multiBody),
45 m_link(link)
46 {
47 m_checkCollideWith = true;
48 //we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
49 //this means that some constraints might point to bodies that are not in the islands, causing crashes
50 //if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
51 {
52 m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
53 }
54 // else
55 //{
56 // m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
57 //}
58
59 m_internalType = CO_FEATHERSTONE_LINK;
60 }
61 static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj)
62 {
63 if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
64 return (btMultiBodyLinkCollider*)colObj;
65 return 0;
66 }
67 static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj)
68 {
69 if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
70 return (btMultiBodyLinkCollider*)colObj;
71 return 0;
72 }
73
74 virtual bool checkCollideWithOverride(const btCollisionObject* co) const
75 {
76 const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co);
77 if (!other)
78 return true;
79 if (other->m_multiBody != this->m_multiBody)
80 return true;
81 if (!m_multiBody->hasSelfCollision())
82 return false;
83
84 //check if 'link' has collision disabled
85 if (m_link >= 0)
86 {
87 const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
88 if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
89 {
90 int parent_of_this = m_link;
91 while (1)
92 {
93 if (parent_of_this == -1)
94 break;
95 parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
96 if (parent_of_this == other->m_link)
97 {
98 return false;
99 }
100 }
101 }
102 else if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
103 {
104 if (link.m_parent == other->m_link)
105 return false;
106 }
107 }
108
109 if (other->m_link >= 0)
110 {
111 const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
112 if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
113 {
114 int parent_of_other = other->m_link;
115 while (1)
116 {
117 if (parent_of_other == -1)
118 break;
119 parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
120 if (parent_of_other == this->m_link)
121 return false;
122 }
123 }
124 else if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
125 {
126 if (otherLink.m_parent == this->m_link)
127 return false;
128 }
129 }
130 return true;
131 }
132
133 virtual int calculateSerializeBufferSize() const;
134
136 virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
137 };
138
139 // clang-format off
140
141 struct btMultiBodyLinkColliderFloatData
142 {
143 btCollisionObjectFloatData m_colObjData;
144 btMultiBodyFloatData *m_multiBody;
145 int m_link;
146 char m_padding[4];
147 };
148
149 struct btMultiBodyLinkColliderDoubleData
150 {
151 btCollisionObjectDoubleData m_colObjData;
152 btMultiBodyDoubleData *m_multiBody;
153 int m_link;
154 char m_padding[4];
155 };
156
157 // clang-format on
158
159 SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const
160 {
161 return sizeof(btMultiBodyLinkColliderData);
162 }
163
164 SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
165 {
166 btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer;
167 btCollisionObject::serialize(&dataOut->m_colObjData, serializer);
168
169 dataOut->m_link = this->m_link;
170 dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody);
171
172 // Fill padding with zeros to appease msan.
173 memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
174
175 return btMultiBodyLinkColliderDataName;
176 }
177
178 #endif //BT_FEATHERSTONE_LINK_COLLIDER_H
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btMultibodyLink::m_flags
int m_flags
Definition: btMultiBodyLink.h:133
btMultiBodyLinkCollider::upcast
static btMultiBodyLinkCollider * upcast(btCollisionObject *colObj)
Definition: btMultiBodyLinkCollider.h:61
btCollisionObject::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionObject.cpp:81
btCollisionObjectDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:604
btCollisionObjectFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:639
btSerializer::getUniquePointer
virtual void * getUniquePointer(void *oldPtr)=0
btMultiBodyData
#define btMultiBodyData
serialization data, don't change them if you are not familiar with the details of the serialization m...
Definition: btMultiBody.h:40
btMultiBodyLinkCollider::~btMultiBodyLinkCollider
virtual ~btMultiBodyLinkCollider()
Definition: btMultiBodyLinkCollider.h:39
btCollisionObject::~btCollisionObject
virtual ~btCollisionObject()
Definition: btCollisionObject.cpp:57
btCollisionObject::m_internalType
int m_internalType
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody,...
Definition: btCollisionObject.h:94
btMultiBodyLinkColliderData
#define btMultiBodyLinkColliderData
Definition: btMultiBodyLinkCollider.h:28
btMultiBodyLinkCollider::btMultiBodyLinkCollider
btMultiBodyLinkCollider(btMultiBody *multiBody, int link)
Definition: btMultiBodyLinkCollider.h:43
btMultiBodyLinkColliderDoubleData::m_padding
char m_padding[4]
Definition: btMultiBodyLinkCollider.h:154
btMultiBodyLinkCollider::upcast
static const btMultiBodyLinkCollider * upcast(const btCollisionObject *colObj)
Definition: btMultiBodyLinkCollider.h:67
btMultibodyLink::m_parent
int m_parent
Definition: btMultiBodyLink.h:54
btMultiBodyLinkColliderDoubleData::m_multiBody
btMultiBodyDoubleData * m_multiBody
Definition: btMultiBodyLinkCollider.h:152
btMultiBodyLinkCollider::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btMultiBodyLinkCollider.h:159
btMultiBodyLinkColliderFloatData::m_padding
char m_padding[4]
Definition: btMultiBodyLinkCollider.h:146
btMultiBody::hasSelfCollision
bool hasSelfCollision() const
Definition: btMultiBody.h:576
btMultiBodyLinkColliderFloatData::m_colObjData
btCollisionObjectFloatData m_colObjData
Definition: btMultiBodyLinkCollider.h:143
btSerializer.h
btMultiBodyLinkCollider
Definition: btMultiBodyLinkCollider.h:33
btMultiBodyLinkColliderDataName
#define btMultiBodyLinkColliderDataName
Definition: btMultiBodyLinkCollider.h:29
btMultiBody::getLink
const btMultibodyLink & getLink(int index) const
Definition: btMultiBody.h:114
btMultiBodyLinkColliderFloatData::m_multiBody
btMultiBodyFloatData * m_multiBody
Definition: btMultiBodyLinkCollider.h:144
btMultiBody
Definition: btMultiBody.h:51
btCollisionObject::CF_STATIC_OBJECT
@ CF_STATIC_OBJECT
Definition: btCollisionObject.h:130
btCollisionObject::m_collisionFlags
int m_collisionFlags
Definition: btCollisionObject.h:76
btCollisionObject::CO_FEATHERSTONE_LINK
@ CO_FEATHERSTONE_LINK
Definition: btCollisionObject.h:153
btMultiBodyLinkColliderDoubleData::m_colObjData
btCollisionObjectDoubleData m_colObjData
Definition: btMultiBodyLinkCollider.h:151
BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION
@ BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION
Definition: btMultiBodyLink.h:26
btMultiBodyLinkColliderFloatData::m_link
int m_link
Definition: btMultiBodyLinkCollider.h:145
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btSerializer
Definition: btSerializer.h:66
btMultiBody.h
btMultiBodyLinkCollider::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btMultiBodyLinkCollider.h:164
btMultibodyLink
Definition: btMultiBodyLink.h:48
btMultiBodyDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btMultiBody.h:837
btMultiBodyLinkCollider::m_link
int m_link
Definition: btMultiBodyLinkCollider.h:37
btCollisionObject::getInternalType
int getInternalType() const
reserved for Bullet internal usage
Definition: btCollisionObject.h:362
btMultiBodyFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btMultiBody.h:854
btCollisionObject.h
btCollisionObject::m_checkCollideWith
int m_checkCollideWith
If some object should have elaborate collision filtering by sub-classes.
Definition: btCollisionObject.h:116
btMultiBodyLinkCollider::m_multiBody
btMultiBody * m_multiBody
Definition: btMultiBodyLinkCollider.h:36
btMultiBodyLinkColliderFloatData
Definition: btMultiBodyLinkCollider.h:142
btMultiBodyLinkColliderDoubleData
Definition: btMultiBodyLinkCollider.h:150
BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION
@ BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION
Definition: btMultiBodyLink.h:25
btMultiBodyLinkColliderDoubleData::m_link
int m_link
Definition: btMultiBodyLinkCollider.h:153
btMultiBodyLinkCollider::checkCollideWithOverride
virtual bool checkCollideWithOverride(const btCollisionObject *co) const
Definition: btMultiBodyLinkCollider.h:74