218 lines
5.6 KiB
C
218 lines
5.6 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BROADPHASE_PROXY_H
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#define BROADPHASE_PROXY_H
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#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
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/// btDispatcher uses these types
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/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
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/// to facilitate type checking
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enum BroadphaseNativeTypes
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{
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// polyhedral convex shapes
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BOX_SHAPE_PROXYTYPE,
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TRIANGLE_SHAPE_PROXYTYPE,
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TETRAHEDRAL_SHAPE_PROXYTYPE,
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CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
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CONVEX_HULL_SHAPE_PROXYTYPE,
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//implicit convex shapes
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IMPLICIT_CONVEX_SHAPES_START_HERE,
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SPHERE_SHAPE_PROXYTYPE,
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MULTI_SPHERE_SHAPE_PROXYTYPE,
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CAPSULE_SHAPE_PROXYTYPE,
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CONE_SHAPE_PROXYTYPE,
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CONVEX_SHAPE_PROXYTYPE,
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CYLINDER_SHAPE_PROXYTYPE,
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UNIFORM_SCALING_SHAPE_PROXYTYPE,
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MINKOWSKI_SUM_SHAPE_PROXYTYPE,
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MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
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//concave shapes
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CONCAVE_SHAPES_START_HERE,
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//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
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TRIANGLE_MESH_SHAPE_PROXYTYPE,
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///used for demo integration FAST/Swift collision library and Bullet
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FAST_CONCAVE_MESH_PROXYTYPE,
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//terrain
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TERRAIN_SHAPE_PROXYTYPE,
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///Used for GIMPACT Trimesh integration
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GIMPACT_SHAPE_PROXYTYPE,
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EMPTY_SHAPE_PROXYTYPE,
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STATIC_PLANE_PROXYTYPE,
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CONCAVE_SHAPES_END_HERE,
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COMPOUND_SHAPE_PROXYTYPE,
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MAX_BROADPHASE_COLLISION_TYPES
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};
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///btBroadphaseProxy
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struct btBroadphaseProxy
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{
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///optional filtering to cull potential collisions
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enum CollisionFilterGroups
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{
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DefaultFilter = 1,
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StaticFilter = 2,
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KinematicFilter = 4,
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DebrisFilter = 8,
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SensorTrigger = 16,
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AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
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};
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//Usually the client btCollisionObject or Rigidbody class
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void* m_clientObject;
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///in the case of btMultiSapBroadphase, we store the collifionFilterGroup/Mask in the m_multiSapParentProxy
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union
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{
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struct
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{
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short int m_collisionFilterGroup;
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short int m_collisionFilterMask;
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};
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void* m_multiSapParentProxy;
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};
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//used for memory pools
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btBroadphaseProxy() :m_clientObject(0){}
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btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
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:m_clientObject(userPtr),
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m_collisionFilterGroup(collisionFilterGroup),
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m_collisionFilterMask(collisionFilterMask)
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{
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}
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static inline bool isPolyhedral(int proxyType)
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{
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return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
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}
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static inline bool isConvex(int proxyType)
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{
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return (proxyType < CONCAVE_SHAPES_START_HERE);
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}
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static inline bool isConcave(int proxyType)
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{
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return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
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(proxyType < CONCAVE_SHAPES_END_HERE));
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}
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static inline bool isCompound(int proxyType)
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{
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return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
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}
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static inline bool isInfinite(int proxyType)
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{
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return (proxyType == STATIC_PLANE_PROXYTYPE);
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}
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}
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;
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class btCollisionAlgorithm;
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struct btBroadphaseProxy;
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/// contains a pair of aabb-overlapping objects
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struct btBroadphasePair
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{
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btBroadphasePair ()
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:
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m_pProxy0(0),
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m_pProxy1(0),
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m_algorithm(0),
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m_userInfo(0)
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{
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}
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btBroadphasePair(const btBroadphasePair& other)
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: m_pProxy0(other.m_pProxy0),
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m_pProxy1(other.m_pProxy1),
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m_algorithm(other.m_algorithm),
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m_userInfo(other.m_userInfo)
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{
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}
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btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
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{
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//keep them sorted, so the std::set operations work
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if (&proxy0 < &proxy1)
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{
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m_pProxy0 = &proxy0;
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m_pProxy1 = &proxy1;
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}
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else
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{
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m_pProxy0 = &proxy1;
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m_pProxy1 = &proxy0;
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}
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m_algorithm = 0;
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m_userInfo = 0;
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}
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btBroadphaseProxy* m_pProxy0;
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btBroadphaseProxy* m_pProxy1;
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mutable btCollisionAlgorithm* m_algorithm;
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mutable void* m_userInfo;
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};
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/*
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//comparison for set operation, see Solid DT_Encounter
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SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
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{
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return a.m_pProxy0 < b.m_pProxy0 ||
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(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
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}
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*/
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class btBroadphasePairSortPredicate
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{
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public:
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bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
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{
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return a.m_pProxy0 > b.m_pProxy0 ||
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(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) ||
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(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
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}
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};
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SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
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{
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return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
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}
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#endif //BROADPHASE_PROXY_H
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