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 
23 
29 {
30  // polyhedral convex shapes
38 //implicit convex shapes
52 //concave shapes
54  //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
59  //terrain
65 
70 
72 
77 
79 
80 };
81 
82 
86 {
87 
89 
92  {
93  DefaultFilter = 1,
94  StaticFilter = 2,
95  KinematicFilter = 4,
96  DebrisFilter = 8,
97  SensorTrigger = 16,
98  CharacterFilter = 32,
99  AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
100  };
101 
102  //Usually the client btCollisionObject or Rigidbody class
107  int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
108 
111 
113  {
114  return m_uniqueId;
115  }
116 
117  //used for memory pools
118  btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
119  {
120  }
121 
122  btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
123  :m_clientObject(userPtr),
124  m_collisionFilterGroup(collisionFilterGroup),
125  m_collisionFilterMask(collisionFilterMask),
126  m_aabbMin(aabbMin),
127  m_aabbMax(aabbMax)
128  {
129  m_multiSapParentProxy = multiSapParentProxy;
130  }
131 
132 
133 
134  static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
135  {
136  return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
137  }
138 
139  static SIMD_FORCE_INLINE bool isConvex(int proxyType)
140  {
141  return (proxyType < CONCAVE_SHAPES_START_HERE);
142  }
143 
144  static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
145  {
146  return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
147  }
148 
149  static SIMD_FORCE_INLINE bool isConcave(int proxyType)
150  {
151  return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
152  (proxyType < CONCAVE_SHAPES_END_HERE));
153  }
154  static SIMD_FORCE_INLINE bool isCompound(int proxyType)
155  {
156  return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
157  }
158 
159  static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
160  {
161  return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
162  }
163 
164  static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
165  {
166  return (proxyType == STATIC_PLANE_PROXYTYPE);
167  }
168 
169  static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
170  {
171  return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
172  }
173 
174 
175 }
176 ;
177 
179 
180 struct btBroadphaseProxy;
181 
182 
183 
187 {
189  :
190  m_pProxy0(0),
191  m_pProxy1(0),
192  m_algorithm(0),
193  m_internalInfo1(0)
194  {
195  }
196 
198 
200  : m_pProxy0(other.m_pProxy0),
201  m_pProxy1(other.m_pProxy1),
202  m_algorithm(other.m_algorithm),
203  m_internalInfo1(other.m_internalInfo1)
204  {
205  }
207  {
208 
209  //keep them sorted, so the std::set operations work
210  if (proxy0.m_uniqueId < proxy1.m_uniqueId)
211  {
212  m_pProxy0 = &proxy0;
213  m_pProxy1 = &proxy1;
214  }
215  else
216  {
217  m_pProxy0 = &proxy1;
218  m_pProxy1 = &proxy0;
219  }
220 
221  m_algorithm = 0;
222  m_internalInfo1 = 0;
223 
224  }
225 
228 
230  union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
231 
232 };
233 
234 /*
235 //comparison for set operation, see Solid DT_Encounter
236 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
237 {
238  return a.m_pProxy0 < b.m_pProxy0 ||
239  (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
240 }
241 */
242 
243 
244 
246 {
247  public:
248 
249  bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
250  {
251  const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
252  const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
253  const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
254  const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
255 
256  return uidA0 > uidB0 ||
257  (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
258  (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
259  }
260 };
261 
262 
264 {
265  return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
266 }
267 
268 
269 #endif //BT_BROADPHASE_PROXY_H
270 
btBroadphasePair(const btBroadphasePair &other)
static bool isInfinite(int proxyType)
short int m_collisionFilterGroup
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
static bool isCompound(int proxyType)
bool operator()(const btBroadphasePair &a, const btBroadphasePair &b) const
Used for GIMPACT Trimesh integration.
static bool isNonMoving(int proxyType)
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btBroadphaseProxy * m_pProxy1
btCollisionAlgorithm * m_algorithm
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
static bool isPolyhedral(int proxyType)
btBroadphaseProxy * m_pProxy0
static bool isSoftBody(int proxyType)
BroadphaseNativeTypes
btDispatcher uses these types IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and co...
btBroadphasePair(btBroadphaseProxy &proxy0, btBroadphaseProxy &proxy1)
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
bool operator==(const btBroadphasePair &a, const btBroadphasePair &b)
static bool isConvex2d(int proxyType)
static bool isConcave(int proxyType)
short int m_collisionFilterMask
btBroadphaseProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, void *userPtr, short int collisionFilterGroup, short int collisionFilterMask, void *multiSapParentProxy=0)
CollisionFilterGroups
optional filtering to cull potential collisions
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
static bool isConvex(int proxyType)
used for demo integration FAST/Swift collision library and Bullet
The btBroadphasePair class contains a pair of aabb-overlapping objects.