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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h')
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diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h new file mode 100644 index 0000000000..eede2b28ca --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -0,0 +1,528 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org + +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. +*/ + + +/** + * @mainpage Bullet Documentation + * + * @section intro_sec Introduction + * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ). + * + * The main documentation is Bullet_User_Manual.pdf, included in the source code distribution. + * There is the Physics Forum for feedback and general Collision Detection and Physics discussions. + * Please visit http://www.bulletphysics.org + * + * @section install_sec Installation + * + * @subsection step1 Step 1: Download + * You can download the Bullet Physics Library from the github repository: https://github.com/bulletphysics/bullet3/releases + * + * @subsection step2 Step 2: Building + * Bullet has multiple build systems, including premake, cmake and autotools. Premake and cmake support all platforms. + * Premake is included in the Bullet/build folder for Windows, Mac OSX and Linux. + * Under Windows you can click on Bullet/build/vs2010.bat to create Microsoft Visual Studio projects. + * On Mac OSX and Linux you can open a terminal and generate Makefile, codeblocks or Xcode4 projects: + * cd Bullet/build + * ./premake4_osx gmake or ./premake4_linux gmake or ./premake4_linux64 gmake or (for Mac) ./premake4_osx xcode4 + * cd Bullet/build/gmake + * make + * + * An alternative to premake is cmake. You can download cmake from http://www.cmake.org + * cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles. + * The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles. + * You can also use cmake in the command-line. Here are some examples for various platforms: + * cmake . -G "Visual Studio 9 2008" + * cmake . -G Xcode + * cmake . -G "Unix Makefiles" + * Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make. + * + * @subsection step3 Step 3: Testing demos + * Try to run and experiment with BasicDemo executable as a starting point. + * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation. + * The Dependencies can be seen in this documentation under Directories + * + * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation + * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform. + * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld. + * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras) + * Bullet Collision Detection can also be used without the Dynamics/Extras. + * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. + * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation. + * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector. + * + * @section copyright Copyright + * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf + * + */ + + + +#ifndef BT_COLLISION_WORLD_H +#define BT_COLLISION_WORLD_H + +class btCollisionShape; +class btConvexShape; +class btBroadphaseInterface; +class btSerializer; + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "btCollisionObject.h" +#include "btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btAlignedObjectArray.h" + +///CollisionWorld is interface and container for the collision detection +class btCollisionWorld +{ + + +protected: + + btAlignedObjectArray<btCollisionObject*> m_collisionObjects; + + btDispatcher* m_dispatcher1; + + btDispatcherInfo m_dispatchInfo; + + btBroadphaseInterface* m_broadphasePairCache; + + btIDebugDraw* m_debugDrawer; + + ///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs + ///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB) + bool m_forceUpdateAllAabbs; + + void serializeCollisionObjects(btSerializer* serializer); + +public: + + //this constructor doesn't own the dispatcher and paircache/broadphase + btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration); + + virtual ~btCollisionWorld(); + + void setBroadphase(btBroadphaseInterface* pairCache) + { + m_broadphasePairCache = pairCache; + } + + const btBroadphaseInterface* getBroadphase() const + { + return m_broadphasePairCache; + } + + btBroadphaseInterface* getBroadphase() + { + return m_broadphasePairCache; + } + + btOverlappingPairCache* getPairCache() + { + return m_broadphasePairCache->getOverlappingPairCache(); + } + + + btDispatcher* getDispatcher() + { + return m_dispatcher1; + } + + const btDispatcher* getDispatcher() const + { + return m_dispatcher1; + } + + void updateSingleAabb(btCollisionObject* colObj); + + virtual void updateAabbs(); + + ///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) + ///it can be useful to use if you perform ray tests without collision detection/simulation + virtual void computeOverlappingPairs(); + + + virtual void setDebugDrawer(btIDebugDraw* debugDrawer) + { + m_debugDrawer = debugDrawer; + } + + virtual btIDebugDraw* getDebugDrawer() + { + return m_debugDrawer; + } + + virtual void debugDrawWorld(); + + virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color); + + + ///LocalShapeInfo gives extra information for complex shapes + ///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart + struct LocalShapeInfo + { + int m_shapePart; + int m_triangleIndex; + + //const btCollisionShape* m_shapeTemp; + //const btTransform* m_shapeLocalTransform; + }; + + struct LocalRayResult + { + LocalRayResult(const btCollisionObject* collisionObject, + LocalShapeInfo* localShapeInfo, + const btVector3& hitNormalLocal, + btScalar hitFraction) + :m_collisionObject(collisionObject), + m_localShapeInfo(localShapeInfo), + m_hitNormalLocal(hitNormalLocal), + m_hitFraction(hitFraction) + { + } + + const btCollisionObject* m_collisionObject; + LocalShapeInfo* m_localShapeInfo; + btVector3 m_hitNormalLocal; + btScalar m_hitFraction; + + }; + + ///RayResultCallback is used to report new raycast results + struct RayResultCallback + { + btScalar m_closestHitFraction; + const btCollisionObject* m_collisionObject; + int m_collisionFilterGroup; + int m_collisionFilterMask; + //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke. + unsigned int m_flags; + + virtual ~RayResultCallback() + { + } + bool hasHit() const + { + return (m_collisionObject != 0); + } + + RayResultCallback() + :m_closestHitFraction(btScalar(1.)), + m_collisionObject(0), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter), + //@BP Mod + m_flags(0) + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0; + }; + + struct ClosestRayResultCallback : public RayResultCallback + { + ClosestRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld) + { + } + + btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_rayToWorld; + + btVector3 m_hitNormalWorld; + btVector3 m_hitPointWorld; + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) + { + //caller already does the filter on the m_closestHitFraction + btAssert(rayResult.m_hitFraction <= m_closestHitFraction); + + m_closestHitFraction = rayResult.m_hitFraction; + m_collisionObject = rayResult.m_collisionObject; + if (normalInWorldSpace) + { + m_hitNormalWorld = rayResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + } + m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction); + return rayResult.m_hitFraction; + } + }; + + struct AllHitsRayResultCallback : public RayResultCallback + { + AllHitsRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld) + { + } + + btAlignedObjectArray<const btCollisionObject*> m_collisionObjects; + + btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_rayToWorld; + + btAlignedObjectArray<btVector3> m_hitNormalWorld; + btAlignedObjectArray<btVector3> m_hitPointWorld; + btAlignedObjectArray<btScalar> m_hitFractions; + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) + { + m_collisionObject = rayResult.m_collisionObject; + m_collisionObjects.push_back(rayResult.m_collisionObject); + btVector3 hitNormalWorld; + if (normalInWorldSpace) + { + hitNormalWorld = rayResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + } + m_hitNormalWorld.push_back(hitNormalWorld); + btVector3 hitPointWorld; + hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction); + m_hitPointWorld.push_back(hitPointWorld); + m_hitFractions.push_back(rayResult.m_hitFraction); + return m_closestHitFraction; + } + }; + + + struct LocalConvexResult + { + LocalConvexResult(const btCollisionObject* hitCollisionObject, + LocalShapeInfo* localShapeInfo, + const btVector3& hitNormalLocal, + const btVector3& hitPointLocal, + btScalar hitFraction + ) + :m_hitCollisionObject(hitCollisionObject), + m_localShapeInfo(localShapeInfo), + m_hitNormalLocal(hitNormalLocal), + m_hitPointLocal(hitPointLocal), + m_hitFraction(hitFraction) + { + } + + const btCollisionObject* m_hitCollisionObject; + LocalShapeInfo* m_localShapeInfo; + btVector3 m_hitNormalLocal; + btVector3 m_hitPointLocal; + btScalar m_hitFraction; + }; + + ///RayResultCallback is used to report new raycast results + struct ConvexResultCallback + { + btScalar m_closestHitFraction; + int m_collisionFilterGroup; + int m_collisionFilterMask; + + ConvexResultCallback() + :m_closestHitFraction(btScalar(1.)), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter) + { + } + + virtual ~ConvexResultCallback() + { + } + + bool hasHit() const + { + return (m_closestHitFraction < btScalar(1.)); + } + + + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0; + }; + + struct ClosestConvexResultCallback : public ConvexResultCallback + { + ClosestConvexResultCallback(const btVector3& convexFromWorld,const btVector3& convexToWorld) + :m_convexFromWorld(convexFromWorld), + m_convexToWorld(convexToWorld), + m_hitCollisionObject(0) + { + } + + btVector3 m_convexFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_convexToWorld; + + btVector3 m_hitNormalWorld; + btVector3 m_hitPointWorld; + const btCollisionObject* m_hitCollisionObject; + + virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) + { +//caller already does the filter on the m_closestHitFraction + btAssert(convexResult.m_hitFraction <= m_closestHitFraction); + + m_closestHitFraction = convexResult.m_hitFraction; + m_hitCollisionObject = convexResult.m_hitCollisionObject; + if (normalInWorldSpace) + { + m_hitNormalWorld = convexResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal; + } + m_hitPointWorld = convexResult.m_hitPointLocal; + return convexResult.m_hitFraction; + } + }; + + ///ContactResultCallback is used to report contact points + struct ContactResultCallback + { + int m_collisionFilterGroup; + int m_collisionFilterMask; + btScalar m_closestDistanceThreshold; + + ContactResultCallback() + :m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter), + m_closestDistanceThreshold(0) + { + } + + virtual ~ContactResultCallback() + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0; + }; + + + + int getNumCollisionObjects() const + { + return int(m_collisionObjects.size()); + } + + /// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback + /// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. + virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; + + /// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback + /// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. + void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const; + + ///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. + ///it reports one or more contact points for every overlapping object (including the one with deepest penetration) + void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback); + + ///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. + ///it reports one or more contact points (including the one with deepest penetration) + void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback); + + + /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. + /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. + /// This allows more customization. + static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + RayResultCallback& resultCallback); + + static void rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans, + const btCollisionObjectWrapper* collisionObjectWrap, + RayResultCallback& resultCallback); + + /// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. + static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + ConvexResultCallback& resultCallback, btScalar allowedPenetration); + + static void objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans, + const btCollisionObjectWrapper* colObjWrap, + ConvexResultCallback& resultCallback, btScalar allowedPenetration); + + virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter); + + btCollisionObjectArray& getCollisionObjectArray() + { + return m_collisionObjects; + } + + const btCollisionObjectArray& getCollisionObjectArray() const + { + return m_collisionObjects; + } + + + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + virtual void performDiscreteCollisionDetection(); + + btDispatcherInfo& getDispatchInfo() + { + return m_dispatchInfo; + } + + const btDispatcherInfo& getDispatchInfo() const + { + return m_dispatchInfo; + } + + bool getForceUpdateAllAabbs() const + { + return m_forceUpdateAllAabbs; + } + void setForceUpdateAllAabbs( bool forceUpdateAllAabbs) + { + m_forceUpdateAllAabbs = forceUpdateAllAabbs; + } + + ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo) + virtual void serialize(btSerializer* serializer); + +}; + + +#endif //BT_COLLISION_WORLD_H |