Bullet Collision Detection & Physics Library
btBroadphaseProxy.h
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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"
22 
28 {
29  // polyhedral convex shapes
37  //implicit convex shapes
51  //concave shapes
53  //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
58  //terrain
64 
70 
72 
77 
79 
80 };
81 
86 {
88 
91  {
92  DefaultFilter = 1,
93  StaticFilter = 2,
94  KinematicFilter = 4,
95  DebrisFilter = 8,
96  SensorTrigger = 16,
97  CharacterFilter = 32,
98  AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
99  };
100 
101  //Usually the client btCollisionObject or Rigidbody class
105 
106  int m_uniqueId; //m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
107 
110 
112  {
113  return m_uniqueId;
114  }
115 
116  //used for memory pools
117  btBroadphaseProxy() : m_clientObject(0)
118  {
119  }
120 
121  btBroadphaseProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
122  : m_clientObject(userPtr),
123  m_collisionFilterGroup(collisionFilterGroup),
124  m_collisionFilterMask(collisionFilterMask),
125  m_aabbMin(aabbMin),
126  m_aabbMax(aabbMax)
127  {
128  }
129 
130  static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
131  {
132  return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
133  }
134 
135  static SIMD_FORCE_INLINE bool isConvex(int proxyType)
136  {
137  return (proxyType < CONCAVE_SHAPES_START_HERE);
138  }
139 
140  static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
141  {
142  return (isConcave(proxyType) && !(proxyType == GIMPACT_SHAPE_PROXYTYPE));
143  }
144 
145  static SIMD_FORCE_INLINE bool isConcave(int proxyType)
146  {
147  return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
148  (proxyType < CONCAVE_SHAPES_END_HERE));
149  }
150  static SIMD_FORCE_INLINE bool isCompound(int proxyType)
151  {
152  return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
153  }
154 
155  static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
156  {
157  return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
158  }
159 
160  static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
161  {
162  return (proxyType == STATIC_PLANE_PROXYTYPE);
163  }
164 
165  static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
166  {
167  return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
168  }
169 };
170 
172 
173 struct btBroadphaseProxy;
174 
179 {
181  : m_pProxy0(0),
182  m_pProxy1(0),
183  m_algorithm(0),
184  m_internalInfo1(0)
185  {
186  }
187 
189 
191  {
192  //keep them sorted, so the std::set operations work
193  if (proxy0.m_uniqueId < proxy1.m_uniqueId)
194  {
195  m_pProxy0 = &proxy0;
196  m_pProxy1 = &proxy1;
197  }
198  else
199  {
200  m_pProxy0 = &proxy1;
201  m_pProxy1 = &proxy0;
202  }
203 
204  m_algorithm = 0;
205  m_internalInfo1 = 0;
206  }
207 
210 
212  union {
215  }; //don't use this data, it will be removed in future version.
216 };
217 
218 /*
219 //comparison for set operation, see Solid DT_Encounter
220 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
221 {
222  return a.m_pProxy0 < b.m_pProxy0 ||
223  (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
224 }
225 */
226 
228 {
229 public:
230  bool operator()(const btBroadphasePair& a, const btBroadphasePair& b) const
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 
244 {
245  return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
246 }
247 
248 #endif //BT_BROADPHASE_PROXY_H
btBroadphaseProxy::m_collisionFilterMask
int m_collisionFilterMask
Definition: btBroadphaseProxy.h:104
btBroadphasePair::m_internalInfo1
void * m_internalInfo1
Definition: btBroadphaseProxy.h:213
TERRAIN_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:59
btBroadphaseProxy::btBroadphaseProxy
btBroadphaseProxy()
Definition: btBroadphaseProxy.h:117
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:84
SOFTBODY_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:73
CUSTOM_CONVEX_SHAPE_TYPE
Definition: btBroadphaseProxy.h:50
btBroadphaseProxy::isConvex2d
static bool isConvex2d(int proxyType)
Definition: btBroadphaseProxy.h:165
CONVEX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:49
CYLINDER_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:44
CONVEX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:43
BroadphaseNativeTypes
BroadphaseNativeTypes
btDispatcher uses these types IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and co...
Definition: btBroadphaseProxy.h:27
INVALID_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:76
btBroadphaseProxy::isCompound
static bool isCompound(int proxyType)
Definition: btBroadphaseProxy.h:150
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:47
CUSTOM_POLYHEDRAL_SHAPE_TYPE
Definition: btBroadphaseProxy.h:36
btBroadphasePairSortPredicate
Definition: btBroadphaseProxy.h:227
btBroadphaseProxy::m_uniqueId
int m_uniqueId
Definition: btBroadphaseProxy.h:106
btBroadphaseProxy::isPolyhedral
static bool isPolyhedral(int proxyType)
Definition: btBroadphaseProxy.h:130
btScalar.h
btBroadphaseProxy::m_collisionFilterGroup
int m_collisionFilterGroup
Definition: btBroadphaseProxy.h:103
btBroadphaseProxy::CollisionFilterGroups
CollisionFilterGroups
optional filtering to cull potential collisions
Definition: btBroadphaseProxy.h:90
MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE
Multimaterial mesh.
Definition: btBroadphaseProxy.h:63
btBroadphaseProxy::isConvex
static bool isConvex(int proxyType)
Definition: btBroadphaseProxy.h:135
UNIFORM_SCALING_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:45
GIMPACT_SHAPE_PROXYTYPE
Used for GIMPACT Trimesh integration.
Definition: btBroadphaseProxy.h:61
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
btVector3.h
MULTI_SPHERE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:40
btBroadphaseProxy::isSoftBody
static bool isSoftBody(int proxyType)
Definition: btBroadphaseProxy.h:155
TRIANGLE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:31
btBroadphaseProxy::isConcave
static bool isConcave(int proxyType)
Definition: btBroadphaseProxy.h:145
TETRAHEDRAL_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:32
operator==
bool operator==(const btBroadphasePair &a, const btBroadphasePair &b)
Definition: btBroadphaseProxy.h:243
CAPSULE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:41
CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:33
HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:75
btBroadphasePair::m_pProxy1
btBroadphaseProxy * m_pProxy1
Definition: btBroadphaseProxy.h:209
SDF_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:68
btBroadphaseProxy::m_clientObject
void * m_clientObject
Definition: btBroadphaseProxy.h:102
btAlignedAllocator.h
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:55
btBroadphaseProxy::m_aabbMax
btVector3 m_aabbMax
Definition: btBroadphaseProxy.h:109
btBroadphasePair::m_algorithm
btCollisionAlgorithm * m_algorithm
Definition: btBroadphaseProxy.h:211
CONCAVE_SHAPES_END_HERE
Definition: btBroadphaseProxy.h:69
BOX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:30
btBroadphaseProxy::isInfinite
static bool isInfinite(int proxyType)
Definition: btBroadphaseProxy.h:160
btBroadphaseProxy::getUid
int getUid() const
Definition: btBroadphaseProxy.h:111
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
btBroadphaseProxy::m_aabbMin
btVector3 m_aabbMin
Definition: btBroadphaseProxy.h:108
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btBroadphasePair::m_pProxy0
btBroadphaseProxy * m_pProxy0
Definition: btBroadphaseProxy.h:208
CONVEX_HULL_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:34
CUSTOM_CONCAVE_SHAPE_TYPE
Definition: btBroadphaseProxy.h:67
MAX_BROADPHASE_COLLISION_TYPES
Definition: btBroadphaseProxy.h:78
SPHERE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:39
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btBroadphasePair::btBroadphasePair
btBroadphasePair()
Definition: btBroadphaseProxy.h:180
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
IMPLICIT_CONVEX_SHAPES_START_HERE
Definition: btBroadphaseProxy.h:38
btBroadphasePair::m_internalTmpValue
int m_internalTmpValue
Definition: btBroadphaseProxy.h:214
FAST_CONCAVE_MESH_PROXYTYPE
used for demo integration FAST/Swift collision library and Bullet
Definition: btBroadphaseProxy.h:57
TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:54
btBroadphaseProxy::isNonMoving
static bool isNonMoving(int proxyType)
Definition: btBroadphaseProxy.h:140
btBroadphasePair::btBroadphasePair
btBroadphasePair(btBroadphaseProxy &proxy0, btBroadphaseProxy &proxy1)
Definition: btBroadphaseProxy.h:190
btBroadphasePairSortPredicate::operator()
bool operator()(const btBroadphasePair &a, const btBroadphasePair &b) const
Definition: btBroadphaseProxy.h:230
CONE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:42
HFFLUID_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:74
CONCAVE_SHAPES_START_HERE
Definition: btBroadphaseProxy.h:52
BOX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:48
EMPTY_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:65
STATIC_PLANE_PROXYTYPE
Definition: btBroadphaseProxy.h:66
MINKOWSKI_SUM_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:46
CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:35
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:177
COMPOUND_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:71
btBroadphaseProxy::btBroadphaseProxy
btBroadphaseProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, void *userPtr, int collisionFilterGroup, int collisionFilterMask)
Definition: btBroadphaseProxy.h:121