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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 
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
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,
57 	///used for demo integration FAST/Swift collision library and Bullet
58 	FAST_CONCAVE_MESH_PROXYTYPE,
59 	//terrain
60 	TERRAIN_SHAPE_PROXYTYPE,
61 ///Used for GIMPACT Trimesh integration
62 	GIMPACT_SHAPE_PROXYTYPE,
63 ///Multimaterial mesh
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 
83 ///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
84 ///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
ATTRIBUTE_ALIGNED16(struct)85 ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
86 {
87 
88 BT_DECLARE_ALIGNED_ALLOCATOR();
89 
90 	///optional filtering to cull potential collisions
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 	short int m_collisionFilterGroup;
105 	short int m_collisionFilterMask;
106 	void*	m_multiSapParentProxy;
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),m_multiSapParentProxy(0)
119 	{
120 	}
121 
122 	btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
123 		:m_clientObject(userPtr),
124 		m_collisionFilterGroup(collisionFilterGroup),
125 		m_collisionFilterMask(collisionFilterMask),
126 		m_aabbMin(aabbMin),
127 		m_aabbMax(aabbMax)
128 	{
129 		m_multiSapParentProxy = multiSapParentProxy;
130 	}
131 
132 
133 
134 	static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
135 	{
136 		return (proxyType  < IMPLICIT_CONVEX_SHAPES_START_HERE);
137 	}
138 
139 	static SIMD_FORCE_INLINE bool	isConvex(int proxyType)
140 	{
141 		return (proxyType < CONCAVE_SHAPES_START_HERE);
142 	}
143 
144 	static SIMD_FORCE_INLINE bool	isNonMoving(int proxyType)
145 	{
146 		return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
147 	}
148 
149 	static SIMD_FORCE_INLINE bool	isConcave(int proxyType)
150 	{
151 		return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
152 			(proxyType < CONCAVE_SHAPES_END_HERE));
153 	}
154 	static SIMD_FORCE_INLINE bool	isCompound(int proxyType)
155 	{
156 		return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
157 	}
158 
159 	static SIMD_FORCE_INLINE bool	isSoftBody(int proxyType)
160 	{
161 		return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
162 	}
163 
164 	static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
165 	{
166 		return (proxyType == STATIC_PLANE_PROXYTYPE);
167 	}
168 
169 	static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
170 	{
171 		return (proxyType == BOX_2D_SHAPE_PROXYTYPE) ||	(proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
172 	}
173 
174 
175 }
176 ;
177 
178 class btCollisionAlgorithm;
179 
180 struct btBroadphaseProxy;
181 
182 
183 
184 ///The btBroadphasePair class contains a pair of aabb-overlapping objects.
185 ///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
ATTRIBUTE_ALIGNED16(struct)186 ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
187 {
188 	btBroadphasePair ()
189 		:
190 	m_pProxy0(0),
191 		m_pProxy1(0),
192 		m_algorithm(0),
193 		m_internalInfo1(0)
194 	{
195 	}
196 
197 BT_DECLARE_ALIGNED_ALLOCATOR();
198 
199 	btBroadphasePair(const btBroadphasePair& other)
200 		:		m_pProxy0(other.m_pProxy0),
201 				m_pProxy1(other.m_pProxy1),
202 				m_algorithm(other.m_algorithm),
203 				m_internalInfo1(other.m_internalInfo1)
204 	{
205 	}
206 	btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
207 	{
208 
209 		//keep them sorted, so the std::set operations work
210 		if (proxy0.m_uniqueId < proxy1.m_uniqueId)
211         {
212             m_pProxy0 = &proxy0;
213             m_pProxy1 = &proxy1;
214         }
215         else
216         {
217 			m_pProxy0 = &proxy1;
218             m_pProxy1 = &proxy0;
219         }
220 
221 		m_algorithm = 0;
222 		m_internalInfo1 = 0;
223 
224 	}
225 
226 	btBroadphaseProxy* m_pProxy0;
227 	btBroadphaseProxy* m_pProxy1;
228 
229 	mutable btCollisionAlgorithm* m_algorithm;
230 	union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
231 
232 };
233 
234 /*
235 //comparison for set operation, see Solid DT_Encounter
236 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
237 {
238     return a.m_pProxy0 < b.m_pProxy0 ||
239         (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
240 }
241 */
242 
243 
244 
245 class btBroadphasePairSortPredicate
246 {
247 	public:
248 
operator()249 		bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
250 		{
251 			const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
252 			const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
253 			const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
254 			const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
255 
256 			 return uidA0 > uidB0 ||
257 				(a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
258 				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
259 		}
260 };
261 
262 
263 SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
264 {
265 	 return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
266 }
267 
268 
269 #endif //BT_BROADPHASE_PROXY_H
270 
271