Bullet Collision Detection & Physics Library
btMultiBodyLinkCollider.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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_FEATHERSTONE_LINK_COLLIDER_H
17 #define BT_FEATHERSTONE_LINK_COLLIDER_H
18 
20 
21 #include "btMultiBody.h"
23 
24 #ifdef BT_USE_DOUBLE_PRECISION
25 #define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
26 #define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
27 #else
28 #define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
29 #define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
30 #endif
31 
33 {
34  //protected:
35 public:
37  int m_link;
38 
40  {
41 
42  }
43  btMultiBodyLinkCollider(btMultiBody* multiBody, int link)
44  : m_multiBody(multiBody),
45  m_link(link)
46  {
47  m_checkCollideWith = true;
48  //we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
49  //this means that some constraints might point to bodies that are not in the islands, causing crashes
50  //if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
51  {
53  }
54  // else
55  //{
56  // m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
57  //}
58 
60  }
62  {
64  return (btMultiBodyLinkCollider*)colObj;
65  return 0;
66  }
67  static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj)
68  {
70  return (btMultiBodyLinkCollider*)colObj;
71  return 0;
72  }
73 
74  virtual bool checkCollideWithOverride(const btCollisionObject* co) const
75  {
77  if (!other)
78  return true;
79  if (other->m_multiBody != this->m_multiBody)
80  return true;
82  return false;
83 
84  //check if 'link' has collision disabled
85  if (m_link >= 0)
86  {
87  const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
89  {
90  int parent_of_this = m_link;
91  while (1)
92  {
93  if (parent_of_this == -1)
94  break;
95  parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
96  if (parent_of_this == other->m_link)
97  {
98  return false;
99  }
100  }
101  }
103  {
104  if (link.m_parent == other->m_link)
105  return false;
106  }
107  }
108 
109  if (other->m_link >= 0)
110  {
111  const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
113  {
114  int parent_of_other = other->m_link;
115  while (1)
116  {
117  if (parent_of_other == -1)
118  break;
119  parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
120  if (parent_of_other == this->m_link)
121  return false;
122  }
123  }
125  {
126  if (otherLink.m_parent == this->m_link)
127  return false;
128  }
129  }
130  return true;
131  }
132 
133  virtual int calculateSerializeBufferSize() const;
134 
136  virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
137 };
138 
139 // clang-format off
140 
142 {
145  int m_link;
146  char m_padding[4];
147 };
148 
150 {
153  int m_link;
154  char m_padding[4];
155 };
156 
157 // clang-format on
158 
160 {
161  return sizeof(btMultiBodyLinkColliderData);
162 }
163 
164 SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
165 {
167  btCollisionObject::serialize(&dataOut->m_colObjData, serializer);
168 
169  dataOut->m_link = this->m_link;
170  dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody);
171 
172  // Fill padding with zeros to appease msan.
173  memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
174 
176 }
177 
178 #endif //BT_FEATHERSTONE_LINK_COLLIDER_H
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btMultiBodyLinkCollider::upcast
static btMultiBodyLinkCollider * upcast(btCollisionObject *colObj)
Definition: btMultiBodyLinkCollider.h:61
btCollisionObject::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionObject.cpp:81
btCollisionObjectDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:603
btCollisionObjectFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:638
btSerializer::getUniquePointer
virtual void * getUniquePointer(void *oldPtr)=0
btMultiBodyData
#define btMultiBodyData
serialization data, don't change them if you are not familiar with the details of the serialization m...
Definition: btMultiBody.h:40
btMultiBodyLinkCollider::~btMultiBodyLinkCollider
virtual ~btMultiBodyLinkCollider()
Definition: btMultiBodyLinkCollider.h:39
btCollisionObject::~btCollisionObject
virtual ~btCollisionObject()
Definition: btCollisionObject.cpp:57
btCollisionObject::m_internalType
int m_internalType
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody,...
Definition: btCollisionObject.h:94
btMultiBodyLinkColliderData
#define btMultiBodyLinkColliderData
Definition: btMultiBodyLinkCollider.h:28
btMultiBodyLinkCollider::btMultiBodyLinkCollider
btMultiBodyLinkCollider(btMultiBody *multiBody, int link)
Definition: btMultiBodyLinkCollider.h:43
btMultiBodyLinkColliderDoubleData::m_padding
char m_padding[4]
Definition: btMultiBodyLinkCollider.h:154
btMultiBodyLinkCollider::upcast
static const btMultiBodyLinkCollider * upcast(const btCollisionObject *colObj)
Definition: btMultiBodyLinkCollider.h:67
btMultiBodyLinkColliderDoubleData::m_multiBody
btMultiBodyDoubleData * m_multiBody
Definition: btMultiBodyLinkCollider.h:152
btMultiBodyLinkCollider::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btMultiBodyLinkCollider.h:159
btMultiBodyLinkColliderFloatData::m_padding
char m_padding[4]
Definition: btMultiBodyLinkCollider.h:146
btMultiBody::hasSelfCollision
bool hasSelfCollision() const
Definition: btMultiBody.h:576
btMultiBodyLinkColliderFloatData::m_colObjData
btCollisionObjectFloatData m_colObjData
Definition: btMultiBodyLinkCollider.h:143
btSerializer.h
btMultiBodyLinkCollider
Definition: btMultiBodyLinkCollider.h:32
btMultiBodyLinkColliderDataName
#define btMultiBodyLinkColliderDataName
Definition: btMultiBodyLinkCollider.h:29
btMultiBody::getLink
const btMultibodyLink & getLink(int index) const
Definition: btMultiBody.h:114
btMultiBodyLinkColliderFloatData::m_multiBody
btMultiBodyFloatData * m_multiBody
Definition: btMultiBodyLinkCollider.h:144
btMultiBody
Definition: btMultiBody.h:49
btCollisionObject::CF_STATIC_OBJECT
Definition: btCollisionObject.h:130
btCollisionObject::m_collisionFlags
int m_collisionFlags
Definition: btCollisionObject.h:76
btCollisionObject::CO_FEATHERSTONE_LINK
Definition: btCollisionObject.h:153
btMultiBodyLinkColliderDoubleData::m_colObjData
btCollisionObjectDoubleData m_colObjData
Definition: btMultiBodyLinkCollider.h:151
btMultiBodyLinkColliderFloatData::m_link
int m_link
Definition: btMultiBodyLinkCollider.h:145
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btSerializer
Definition: btSerializer.h:65
btMultiBody.h
btMultiBodyLinkCollider::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btMultiBodyLinkCollider.h:164
btMultiBodyDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btMultiBody.h:836
btMultiBodyLinkCollider::m_link
int m_link
Definition: btMultiBodyLinkCollider.h:37
btCollisionObject::getInternalType
int getInternalType() const
reserved for Bullet internal usage
Definition: btCollisionObject.h:362
btMultiBodyFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btMultiBody.h:853
btCollisionObject.h
btCollisionObject::m_checkCollideWith
int m_checkCollideWith
If some object should have elaborate collision filtering by sub-classes.
Definition: btCollisionObject.h:116
btMultiBodyLinkCollider::m_multiBody
btMultiBody * m_multiBody
Definition: btMultiBodyLinkCollider.h:36
btMultiBodyLinkColliderFloatData
Definition: btMultiBodyLinkCollider.h:141
btMultiBodyLinkColliderDoubleData
Definition: btMultiBodyLinkCollider.h:149
btMultiBodyLinkColliderDoubleData::m_link
int m_link
Definition: btMultiBodyLinkCollider.h:153
btMultiBodyLinkCollider::checkCollideWithOverride
virtual bool checkCollideWithOverride(const btCollisionObject *co) const
Definition: btMultiBodyLinkCollider.h:74