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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h | 690 |
1 files changed, 0 insertions, 690 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h deleted file mode 100644 index dbe82fd61f..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h +++ /dev/null @@ -1,690 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef BT_COLLISION_OBJECT_H -#define BT_COLLISION_OBJECT_H - -#include "LinearMath/btTransform.h" - -//island management, m_activationState1 -#define ACTIVE_TAG 1 -#define ISLAND_SLEEPING 2 -#define WANTS_DEACTIVATION 3 -#define DISABLE_DEACTIVATION 4 -#define DISABLE_SIMULATION 5 -#define FIXED_BASE_MULTI_BODY 6 - -struct btBroadphaseProxy; -class btCollisionShape; -struct btCollisionShapeData; -#include "LinearMath/btMotionState.h" -#include "LinearMath/btAlignedAllocator.h" -#include "LinearMath/btAlignedObjectArray.h" - -typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray; - -#ifdef BT_USE_DOUBLE_PRECISION -#define btCollisionObjectData btCollisionObjectDoubleData -#define btCollisionObjectDataName "btCollisionObjectDoubleData" -#else -#define btCollisionObjectData btCollisionObjectFloatData -#define btCollisionObjectDataName "btCollisionObjectFloatData" -#endif - -/// btCollisionObject can be used to manage collision detection objects. -/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy. -/// They can be added to the btCollisionWorld. -ATTRIBUTE_ALIGNED16(class) -btCollisionObject -{ -protected: - btTransform m_worldTransform; - - ///m_interpolationWorldTransform is used for CCD and interpolation - ///it can be either previous or future (predicted) transform - btTransform m_interpolationWorldTransform; - //those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) - //without destroying the continuous interpolated motion (which uses this interpolation velocities) - btVector3 m_interpolationLinearVelocity; - btVector3 m_interpolationAngularVelocity; - - btVector3 m_anisotropicFriction; - int m_hasAnisotropicFriction; - btScalar m_contactProcessingThreshold; - - btBroadphaseProxy* m_broadphaseHandle; - btCollisionShape* m_collisionShape; - ///m_extensionPointer is used by some internal low-level Bullet extensions. - void* m_extensionPointer; - - ///m_rootCollisionShape is temporarily used to store the original collision shape - ///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes - ///If it is NULL, the m_collisionShape is not temporarily replaced. - btCollisionShape* m_rootCollisionShape; - - int m_collisionFlags; - - int m_islandTag1; - int m_companionId; - int m_worldArrayIndex; // index of object in world's collisionObjects array - - mutable int m_activationState1; - mutable btScalar m_deactivationTime; - - btScalar m_friction; - btScalar m_restitution; - btScalar m_rollingFriction; //torsional friction orthogonal to contact normal (useful to stop spheres rolling forever) - btScalar m_spinningFriction; // torsional friction around the contact normal (useful for grasping) - btScalar m_contactDamping; - btScalar m_contactStiffness; - - ///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc. - ///do not assign your own m_internalType unless you write a new dynamics object class. - int m_internalType; - - ///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer - - void* m_userObjectPointer; - - int m_userIndex2; - - int m_userIndex; - - int m_userIndex3; - - ///time of impact calculation - btScalar m_hitFraction; - - ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: - btScalar m_ccdSweptSphereRadius; - - /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold - btScalar m_ccdMotionThreshold; - - /// If some object should have elaborate collision filtering by sub-classes - int m_checkCollideWith; - - btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck; - - ///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation. - int m_updateRevision; - - btVector3 m_customDebugColorRGB; - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - enum CollisionFlags - { - CF_DYNAMIC_OBJECT = 0, - CF_STATIC_OBJECT = 1, - CF_KINEMATIC_OBJECT = 2, - CF_NO_CONTACT_RESPONSE = 4, - CF_CUSTOM_MATERIAL_CALLBACK = 8, //this allows per-triangle material (friction/restitution) - CF_CHARACTER_OBJECT = 16, - CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing - CF_DISABLE_SPU_COLLISION_PROCESSING = 64, //disable parallel/SPU processing - CF_HAS_CONTACT_STIFFNESS_DAMPING = 128, - CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256, - CF_HAS_FRICTION_ANCHOR = 512, - CF_HAS_COLLISION_SOUND_TRIGGER = 1024 - }; - - enum CollisionObjectTypes - { - CO_COLLISION_OBJECT = 1, - CO_RIGID_BODY = 2, - ///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter - ///It is useful for collision sensors, explosion objects, character controller etc. - CO_GHOST_OBJECT = 4, - CO_SOFT_BODY = 8, - CO_HF_FLUID = 16, - CO_USER_TYPE = 32, - CO_FEATHERSTONE_LINK = 64 - }; - - enum AnisotropicFrictionFlags - { - CF_ANISOTROPIC_FRICTION_DISABLED = 0, - CF_ANISOTROPIC_FRICTION = 1, - CF_ANISOTROPIC_ROLLING_FRICTION = 2 - }; - - SIMD_FORCE_INLINE bool mergesSimulationIslands() const - { - ///static objects, kinematic and object without contact response don't merge islands - return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE)) == 0); - } - - const btVector3& getAnisotropicFriction() const - { - return m_anisotropicFriction; - } - void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION) - { - m_anisotropicFriction = anisotropicFriction; - bool isUnity = (anisotropicFriction[0] != 1.f) || (anisotropicFriction[1] != 1.f) || (anisotropicFriction[2] != 1.f); - m_hasAnisotropicFriction = isUnity ? frictionMode : 0; - } - bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const - { - return (m_hasAnisotropicFriction & frictionMode) != 0; - } - - ///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default. - ///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges - void setContactProcessingThreshold(btScalar contactProcessingThreshold) - { - m_contactProcessingThreshold = contactProcessingThreshold; - } - btScalar getContactProcessingThreshold() const - { - return m_contactProcessingThreshold; - } - - SIMD_FORCE_INLINE bool isStaticObject() const - { - return (m_collisionFlags & CF_STATIC_OBJECT) != 0; - } - - SIMD_FORCE_INLINE bool isKinematicObject() const - { - return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0; - } - - SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const - { - return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0; - } - - SIMD_FORCE_INLINE bool hasContactResponse() const - { - return (m_collisionFlags & CF_NO_CONTACT_RESPONSE) == 0; - } - - btCollisionObject(); - - virtual ~btCollisionObject(); - - virtual void setCollisionShape(btCollisionShape * collisionShape) - { - m_updateRevision++; - m_collisionShape = collisionShape; - m_rootCollisionShape = collisionShape; - } - - SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const - { - return m_collisionShape; - } - - SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() - { - return m_collisionShape; - } - - void setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck) - { - if (ignoreCollisionCheck) - { - //We don't check for duplicates. Is it ok to leave that up to the user of this API? - //int index = m_objectsWithoutCollisionCheck.findLinearSearch(co); - //if (index == m_objectsWithoutCollisionCheck.size()) - //{ - m_objectsWithoutCollisionCheck.push_back(co); - //} - } - else - { - m_objectsWithoutCollisionCheck.remove(co); - } - m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0; - } - - int getNumObjectsWithoutCollision() const - { - return m_objectsWithoutCollisionCheck.size(); - } - - const btCollisionObject* getObjectWithoutCollision(int index) - { - return m_objectsWithoutCollisionCheck[index]; - } - - virtual bool checkCollideWithOverride(const btCollisionObject* co) const - { - int index = m_objectsWithoutCollisionCheck.findLinearSearch(co); - if (index < m_objectsWithoutCollisionCheck.size()) - { - return false; - } - return true; - } - - ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. - ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead. - void* internalGetExtensionPointer() const - { - return m_extensionPointer; - } - ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions - ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead. - void internalSetExtensionPointer(void* pointer) - { - m_extensionPointer = pointer; - } - - SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1; } - - void setActivationState(int newState) const; - - void setDeactivationTime(btScalar time) - { - m_deactivationTime = time; - } - btScalar getDeactivationTime() const - { - return m_deactivationTime; - } - - void forceActivationState(int newState) const; - - void activate(bool forceActivation = false) const; - - SIMD_FORCE_INLINE bool isActive() const - { - return ((getActivationState() != FIXED_BASE_MULTI_BODY) && (getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION)); - } - - void setRestitution(btScalar rest) - { - m_updateRevision++; - m_restitution = rest; - } - btScalar getRestitution() const - { - return m_restitution; - } - void setFriction(btScalar frict) - { - m_updateRevision++; - m_friction = frict; - } - btScalar getFriction() const - { - return m_friction; - } - - void setRollingFriction(btScalar frict) - { - m_updateRevision++; - m_rollingFriction = frict; - } - btScalar getRollingFriction() const - { - return m_rollingFriction; - } - void setSpinningFriction(btScalar frict) - { - m_updateRevision++; - m_spinningFriction = frict; - } - btScalar getSpinningFriction() const - { - return m_spinningFriction; - } - void setContactStiffnessAndDamping(btScalar stiffness, btScalar damping) - { - m_updateRevision++; - m_contactStiffness = stiffness; - m_contactDamping = damping; - - m_collisionFlags |= CF_HAS_CONTACT_STIFFNESS_DAMPING; - - //avoid divisions by zero... - if (m_contactStiffness < SIMD_EPSILON) - { - m_contactStiffness = SIMD_EPSILON; - } - } - - btScalar getContactStiffness() const - { - return m_contactStiffness; - } - - btScalar getContactDamping() const - { - return m_contactDamping; - } - - ///reserved for Bullet internal usage - int getInternalType() const - { - return m_internalType; - } - - btTransform& getWorldTransform() - { - return m_worldTransform; - } - - const btTransform& getWorldTransform() const - { - return m_worldTransform; - } - - void setWorldTransform(const btTransform& worldTrans) - { - m_updateRevision++; - m_worldTransform = worldTrans; - } - - SIMD_FORCE_INLINE btBroadphaseProxy* getBroadphaseHandle() - { - return m_broadphaseHandle; - } - - SIMD_FORCE_INLINE const btBroadphaseProxy* getBroadphaseHandle() const - { - return m_broadphaseHandle; - } - - void setBroadphaseHandle(btBroadphaseProxy * handle) - { - m_broadphaseHandle = handle; - } - - const btTransform& getInterpolationWorldTransform() const - { - return m_interpolationWorldTransform; - } - - btTransform& getInterpolationWorldTransform() - { - return m_interpolationWorldTransform; - } - - void setInterpolationWorldTransform(const btTransform& trans) - { - m_updateRevision++; - m_interpolationWorldTransform = trans; - } - - void setInterpolationLinearVelocity(const btVector3& linvel) - { - m_updateRevision++; - m_interpolationLinearVelocity = linvel; - } - - void setInterpolationAngularVelocity(const btVector3& angvel) - { - m_updateRevision++; - m_interpolationAngularVelocity = angvel; - } - - const btVector3& getInterpolationLinearVelocity() const - { - return m_interpolationLinearVelocity; - } - - const btVector3& getInterpolationAngularVelocity() const - { - return m_interpolationAngularVelocity; - } - - SIMD_FORCE_INLINE int getIslandTag() const - { - return m_islandTag1; - } - - void setIslandTag(int tag) - { - m_islandTag1 = tag; - } - - SIMD_FORCE_INLINE int getCompanionId() const - { - return m_companionId; - } - - void setCompanionId(int id) - { - m_companionId = id; - } - - SIMD_FORCE_INLINE int getWorldArrayIndex() const - { - return m_worldArrayIndex; - } - - // only should be called by CollisionWorld - void setWorldArrayIndex(int ix) - { - m_worldArrayIndex = ix; - } - - SIMD_FORCE_INLINE btScalar getHitFraction() const - { - return m_hitFraction; - } - - void setHitFraction(btScalar hitFraction) - { - m_hitFraction = hitFraction; - } - - SIMD_FORCE_INLINE int getCollisionFlags() const - { - return m_collisionFlags; - } - - void setCollisionFlags(int flags) - { - m_collisionFlags = flags; - } - - ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: - btScalar getCcdSweptSphereRadius() const - { - return m_ccdSweptSphereRadius; - } - - ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: - void setCcdSweptSphereRadius(btScalar radius) - { - m_ccdSweptSphereRadius = radius; - } - - btScalar getCcdMotionThreshold() const - { - return m_ccdMotionThreshold; - } - - btScalar getCcdSquareMotionThreshold() const - { - return m_ccdMotionThreshold * m_ccdMotionThreshold; - } - - /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold - void setCcdMotionThreshold(btScalar ccdMotionThreshold) - { - m_ccdMotionThreshold = ccdMotionThreshold; - } - - ///users can point to their objects, userPointer is not used by Bullet - void* getUserPointer() const - { - return m_userObjectPointer; - } - - int getUserIndex() const - { - return m_userIndex; - } - - int getUserIndex2() const - { - return m_userIndex2; - } - - int getUserIndex3() const - { - return m_userIndex3; - } - - ///users can point to their objects, userPointer is not used by Bullet - void setUserPointer(void* userPointer) - { - m_userObjectPointer = userPointer; - } - - ///users can point to their objects, userPointer is not used by Bullet - void setUserIndex(int index) - { - m_userIndex = index; - } - - void setUserIndex2(int index) - { - m_userIndex2 = index; - } - - void setUserIndex3(int index) - { - m_userIndex3 = index; - } - - int getUpdateRevisionInternal() const - { - return m_updateRevision; - } - - void setCustomDebugColor(const btVector3& colorRGB) - { - m_customDebugColorRGB = colorRGB; - m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR; - } - - void removeCustomDebugColor() - { - m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR; - } - - bool getCustomDebugColor(btVector3 & colorRGB) const - { - bool hasCustomColor = (0 != (m_collisionFlags & CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR)); - if (hasCustomColor) - { - colorRGB = m_customDebugColorRGB; - } - return hasCustomColor; - } - - inline bool checkCollideWith(const btCollisionObject* co) const - { - if (m_checkCollideWith) - return checkCollideWithOverride(co); - - return true; - } - - virtual int calculateSerializeBufferSize() const; - - ///fills the dataBuffer and returns the struct name (and 0 on failure) - virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; - - virtual void serializeSingleObject(class btSerializer * serializer) const; -}; - -// clang-format off - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btCollisionObjectDoubleData -{ - void *m_broadphaseHandle; - void *m_collisionShape; - btCollisionShapeData *m_rootCollisionShape; - char *m_name; - - btTransformDoubleData m_worldTransform; - btTransformDoubleData m_interpolationWorldTransform; - btVector3DoubleData m_interpolationLinearVelocity; - btVector3DoubleData m_interpolationAngularVelocity; - btVector3DoubleData m_anisotropicFriction; - double m_contactProcessingThreshold; - double m_deactivationTime; - double m_friction; - double m_rollingFriction; - double m_contactDamping; - double m_contactStiffness; - double m_restitution; - double m_hitFraction; - double m_ccdSweptSphereRadius; - double m_ccdMotionThreshold; - int m_hasAnisotropicFriction; - int m_collisionFlags; - int m_islandTag1; - int m_companionId; - int m_activationState1; - int m_internalType; - int m_checkCollideWith; - int m_collisionFilterGroup; - int m_collisionFilterMask; - int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc. -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btCollisionObjectFloatData -{ - void *m_broadphaseHandle; - void *m_collisionShape; - btCollisionShapeData *m_rootCollisionShape; - char *m_name; - - btTransformFloatData m_worldTransform; - btTransformFloatData m_interpolationWorldTransform; - btVector3FloatData m_interpolationLinearVelocity; - btVector3FloatData m_interpolationAngularVelocity; - btVector3FloatData m_anisotropicFriction; - float m_contactProcessingThreshold; - float m_deactivationTime; - float m_friction; - float m_rollingFriction; - float m_contactDamping; - float m_contactStiffness; - float m_restitution; - float m_hitFraction; - float m_ccdSweptSphereRadius; - float m_ccdMotionThreshold; - int m_hasAnisotropicFriction; - int m_collisionFlags; - int m_islandTag1; - int m_companionId; - int m_activationState1; - int m_internalType; - int m_checkCollideWith; - int m_collisionFilterGroup; - int m_collisionFilterMask; - int m_uniqueId; -}; -// clang-format on - -SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const -{ - return sizeof(btCollisionObjectData); -} - -#endif //BT_COLLISION_OBJECT_H |