be261ec408013cf4abcd4010c083182466958ef3
[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         
156 }
157 ;
158
159 class btCollisionAlgorithm;
160
161 struct btBroadphaseProxy;
162
163
164
165 ///The btBroadphasePair class contains a pair of aabb-overlapping objects.
166 ///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
167 ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
168 {
169         btBroadphasePair ()
170                 :
171         m_pProxy0(0),
172                 m_pProxy1(0),
173                 m_algorithm(0),
174                 m_internalInfo1(0)
175         {
176         }
177
178 BT_DECLARE_ALIGNED_ALLOCATOR();
179
180         btBroadphasePair(const btBroadphasePair& other)
181                 :               m_pProxy0(other.m_pProxy0),
182                                 m_pProxy1(other.m_pProxy1),
183                                 m_algorithm(other.m_algorithm),
184                                 m_internalInfo1(other.m_internalInfo1)
185         {
186         }
187         btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
188         {
189
190                 //keep them sorted, so the std::set operations work
191                 if (proxy0.m_uniqueId < proxy1.m_uniqueId)
192         { 
193             m_pProxy0 = &proxy0; 
194             m_pProxy1 = &proxy1; 
195         }
196         else 
197         { 
198                         m_pProxy0 = &proxy1; 
199             m_pProxy1 = &proxy0; 
200         }
201
202                 m_algorithm = 0;
203                 m_internalInfo1 = 0;
204
205         }
206         
207         btBroadphaseProxy* m_pProxy0;
208         btBroadphaseProxy* m_pProxy1;
209         
210         mutable btCollisionAlgorithm* m_algorithm;
211         union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
212
213 };
214
215 /*
216 //comparison for set operation, see Solid DT_Encounter
217 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) 
218
219     return a.m_pProxy0 < b.m_pProxy0 || 
220         (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); 
221 }
222 */
223
224
225
226 class btBroadphasePairSortPredicate
227 {
228         public:
229
230                 bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
231                 {
232                         const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
233                         const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
234                         const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
235                         const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
236
237                          return uidA0 > uidB0 || 
238                                 (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
239                                 (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
240                 }
241 };
242
243
244 SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) 
245 {
246          return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
247 }
248
249
250 #endif //BROADPHASE_PROXY_H
251