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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h | 195 |
1 files changed, 0 insertions, 195 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h deleted file mode 100644 index 3dc35a5814..0000000000 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h +++ /dev/null @@ -1,195 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 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. -*/ - -#ifndef BT_FEATHERSTONE_LINK_COLLIDER_H -#define BT_FEATHERSTONE_LINK_COLLIDER_H - -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" - -#include "btMultiBody.h" -#include "LinearMath/btSerializer.h" - -#ifdef BT_USE_DOUBLE_PRECISION -#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData -#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData" -#else -#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData -#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData" -#endif - -class btMultiBodyLinkCollider : public btCollisionObject -{ - //protected: -public: - btMultiBody* m_multiBody; - int m_link; - - virtual ~btMultiBodyLinkCollider() - { - - } - btMultiBodyLinkCollider(btMultiBody* multiBody, int link) - : m_multiBody(multiBody), - m_link(link) - { - m_checkCollideWith = true; - //we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands - //this means that some constraints might point to bodies that are not in the islands, causing crashes - //if (link>=0 || (multiBody && !multiBody->hasFixedBase())) - { - m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT); - } - // else - //{ - // m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT); - //} - - m_internalType = CO_FEATHERSTONE_LINK; - } - static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj) - { - if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK) - return (btMultiBodyLinkCollider*)colObj; - return 0; - } - static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj) - { - if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK) - return (btMultiBodyLinkCollider*)colObj; - return 0; - } - - virtual bool checkCollideWithOverride(const btCollisionObject* co) const - { - const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co); - if (!other) - return true; - if (other->m_multiBody != this->m_multiBody) - return true; - if (!m_multiBody->hasSelfCollision()) - return false; - - //check if 'link' has collision disabled - if (m_link >= 0) - { - const btMultibodyLink& link = m_multiBody->getLink(this->m_link); - if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION) - { - int parent_of_this = m_link; - while (1) - { - if (parent_of_this == -1) - break; - parent_of_this = m_multiBody->getLink(parent_of_this).m_parent; - if (parent_of_this == other->m_link) - { - return false; - } - } - } - else if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) - { - if (link.m_parent == other->m_link) - return false; - } - } - - if (other->m_link >= 0) - { - const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link); - if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION) - { - int parent_of_other = other->m_link; - while (1) - { - if (parent_of_other == -1) - break; - parent_of_other = m_multiBody->getLink(parent_of_other).m_parent; - if (parent_of_other == this->m_link) - return false; - } - } - else if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) - { - if (otherLink.m_parent == this->m_link) - return false; - } - } - return true; - } - - bool isStaticOrKinematic() const - { - return isStaticOrKinematicObject(); - } - - bool isKinematic() const - { - return isKinematicObject(); - } - - void setDynamicType(int dynamicType) - { - int oldFlags = getCollisionFlags(); - oldFlags &= ~(btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT); - setCollisionFlags(oldFlags | dynamicType); - } - - 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; -}; - -// clang-format off - -struct btMultiBodyLinkColliderFloatData -{ - btCollisionObjectFloatData m_colObjData; - btMultiBodyFloatData *m_multiBody; - int m_link; - char m_padding[4]; -}; - -struct btMultiBodyLinkColliderDoubleData -{ - btCollisionObjectDoubleData m_colObjData; - btMultiBodyDoubleData *m_multiBody; - int m_link; - char m_padding[4]; -}; - -// clang-format on - -SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const -{ - return sizeof(btMultiBodyLinkColliderData); -} - -SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const -{ - btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer; - btCollisionObject::serialize(&dataOut->m_colObjData, serializer); - - dataOut->m_link = this->m_link; - dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody); - - // Fill padding with zeros to appease msan. - memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding)); - - return btMultiBodyLinkColliderDataName; -} - -#endif //BT_FEATHERSTONE_LINK_COLLIDER_H |