BGE: ray casting works on soft body, the hit polygon is also returned. The modificati...
[blender.git] / extern / bullet2 / src / BulletCollision / BroadphaseCollision / btBroadphaseProxy.h
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 BROADPHASE_PROXY_H
17 #define 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         CUSTOM_CONVEX_SHAPE_TYPE,
50 //concave shapes
51 CONCAVE_SHAPES_START_HERE,
52         //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
53         TRIANGLE_MESH_SHAPE_PROXYTYPE,
54         SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
55         ///used for demo integration FAST/Swift collision library and Bullet
56         FAST_CONCAVE_MESH_PROXYTYPE,
57         //terrain
58         TERRAIN_SHAPE_PROXYTYPE,
59 ///Used for GIMPACT Trimesh integration
60         GIMPACT_SHAPE_PROXYTYPE,
61 ///Multimaterial mesh
62     MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
63         
64         EMPTY_SHAPE_PROXYTYPE,
65         STATIC_PLANE_PROXYTYPE,
66         CUSTOM_CONCAVE_SHAPE_TYPE,
67 CONCAVE_SHAPES_END_HERE,
68
69         COMPOUND_SHAPE_PROXYTYPE,
70
71         SOFTBODY_SHAPE_PROXYTYPE,
72         HFFLUID_SHAPE_PROXYTYPE,
73         HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
74         INVALID_SHAPE_PROXYTYPE,
75
76         MAX_BROADPHASE_COLLISION_TYPES
77         
78 };
79
80
81 ///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. 
82 ///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
83 ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
84 {
85
86 BT_DECLARE_ALIGNED_ALLOCATOR();
87         
88         ///optional filtering to cull potential collisions
89         enum CollisionFilterGroups
90         {
91                 DefaultFilter = 1,
92                 StaticFilter = 2,
93                 KinematicFilter = 4,
94                 DebrisFilter = 8,
95                         SensorTrigger = 16,
96                         CharacterFilter = 32,
97                 AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
98         };
99
100         //Usually the client btCollisionObject or Rigidbody class
101         void*   m_clientObject;
102         short int m_collisionFilterGroup;
103         short int m_collisionFilterMask;
104         void*   m_multiSapParentProxy;          
105         int                     m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
106
107         btVector3       m_aabbMin;
108         btVector3       m_aabbMax;
109
110         SIMD_FORCE_INLINE int getUid() const
111         {
112                 return m_uniqueId;
113         }
114
115         //used for memory pools
116         btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
117         {
118         }
119
120         btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
121                 :m_clientObject(userPtr),
122                 m_collisionFilterGroup(collisionFilterGroup),
123                 m_collisionFilterMask(collisionFilterMask),
124                 m_aabbMin(aabbMin),
125                 m_aabbMax(aabbMax)
126         {
127                 m_multiSapParentProxy = multiSapParentProxy;
128         }
129
130         
131
132         static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
133         {
134                 return (proxyType  < IMPLICIT_CONVEX_SHAPES_START_HERE);
135         }
136
137         static SIMD_FORCE_INLINE bool   isConvex(int proxyType)
138         {
139                 return (proxyType < CONCAVE_SHAPES_START_HERE);
140         }
141
142         static SIMD_FORCE_INLINE bool   isConcave(int proxyType)
143         {
144                 return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
145                         (proxyType < CONCAVE_SHAPES_END_HERE));
146         }
147         static SIMD_FORCE_INLINE bool   isCompound(int proxyType)
148         {
149                 return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
150         }
151         static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
152         {
153                 return (proxyType == STATIC_PLANE_PROXYTYPE);
154         }
155         static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
156         {
157                 return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
158         }
159         
160 }
161 ;
162
163 class btCollisionAlgorithm;
164
165 struct btBroadphaseProxy;
166
167
168
169 ///The btBroadphasePair class contains a pair of aabb-overlapping objects.
170 ///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
171 ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
172 {
173         btBroadphasePair ()
174                 :
175         m_pProxy0(0),
176                 m_pProxy1(0),
177                 m_algorithm(0),
178                 m_internalInfo1(0)
179         {
180         }
181
182 BT_DECLARE_ALIGNED_ALLOCATOR();
183
184         btBroadphasePair(const btBroadphasePair& other)
185                 :               m_pProxy0(other.m_pProxy0),
186                                 m_pProxy1(other.m_pProxy1),
187                                 m_algorithm(other.m_algorithm),
188                                 m_internalInfo1(other.m_internalInfo1)
189         {
190         }
191         btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
192         {
193
194                 //keep them sorted, so the std::set operations work
195                 if (proxy0.m_uniqueId < proxy1.m_uniqueId)
196         { 
197             m_pProxy0 = &proxy0; 
198             m_pProxy1 = &proxy1; 
199         }
200         else 
201         { 
202                         m_pProxy0 = &proxy1; 
203             m_pProxy1 = &proxy0; 
204         }
205
206                 m_algorithm = 0;
207                 m_internalInfo1 = 0;
208
209         }
210         
211         btBroadphaseProxy* m_pProxy0;
212         btBroadphaseProxy* m_pProxy1;
213         
214         mutable btCollisionAlgorithm* m_algorithm;
215         union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
216
217 };
218
219 /*
220 //comparison for set operation, see Solid DT_Encounter
221 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) 
222
223     return a.m_pProxy0 < b.m_pProxy0 || 
224         (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); 
225 }
226 */
227
228
229
230 class btBroadphasePairSortPredicate
231 {
232         public:
233
234                 bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
235                 {
236                         const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
237                         const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
238                         const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
239                         const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
240
241                          return uidA0 > uidB0 || 
242                                 (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
243                                 (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
244                 }
245 };
246
247
248 SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) 
249 {
250          return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
251 }
252
253
254 #endif //BROADPHASE_PROXY_H
255