Bullet Collision Detection & Physics Library
btBroadphaseProxy.h
Go to the documentation of this file.
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
106 
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)
119  {
120  }
121 
122  btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask)
123  :m_clientObject(userPtr),
124  m_collisionFilterGroup(collisionFilterGroup),
125  m_collisionFilterMask(collisionFilterMask),
126  m_aabbMin(aabbMin),
127  m_aabbMax(aabbMax)
128  {
129  }
130 
131 
132 
133  static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
134  {
135  return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
136  }
137 
138  static SIMD_FORCE_INLINE bool isConvex(int proxyType)
139  {
140  return (proxyType < CONCAVE_SHAPES_START_HERE);
141  }
142 
143  static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
144  {
145  return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
146  }
147 
148  static SIMD_FORCE_INLINE bool isConcave(int proxyType)
149  {
150  return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
151  (proxyType < CONCAVE_SHAPES_END_HERE));
152  }
153  static SIMD_FORCE_INLINE bool isCompound(int proxyType)
154  {
155  return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
156  }
157 
158  static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
159  {
160  return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
161  }
162 
163  static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
164  {
165  return (proxyType == STATIC_PLANE_PROXYTYPE);
166  }
167 
168  static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
169  {
170  return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
171  }
172 
173 
174 }
175 ;
176 
178 
179 struct btBroadphaseProxy;
180 
181 
182 
186 {
188  :
189  m_pProxy0(0),
190  m_pProxy1(0),
191  m_algorithm(0),
192  m_internalInfo1(0)
193  {
194  }
195 
197 
199  : m_pProxy0(other.m_pProxy0),
200  m_pProxy1(other.m_pProxy1),
201  m_algorithm(other.m_algorithm),
202  m_internalInfo1(other.m_internalInfo1)
203  {
204  }
206  {
207 
208  //keep them sorted, so the std::set operations work
209  if (proxy0.m_uniqueId < proxy1.m_uniqueId)
210  {
211  m_pProxy0 = &proxy0;
212  m_pProxy1 = &proxy1;
213  }
214  else
215  {
216  m_pProxy0 = &proxy1;
217  m_pProxy1 = &proxy0;
218  }
219 
220  m_algorithm = 0;
221  m_internalInfo1 = 0;
222 
223  }
224 
227 
229  union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
230 
231 };
232 
233 /*
234 //comparison for set operation, see Solid DT_Encounter
235 SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
236 {
237  return a.m_pProxy0 < b.m_pProxy0 ||
238  (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
239 }
240 */
241 
242 
243 
245 {
246  public:
247 
248  bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
249  {
250  const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
251  const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
252  const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
253  const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
254 
255  return uidA0 > uidB0 ||
256  (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
257  (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
258  }
259 };
260 
261 
263 {
264  return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
265 }
266 
267 
268 #endif //BT_BROADPHASE_PROXY_H
269 
btBroadphasePair(const btBroadphasePair &other)
static bool isInfinite(int proxyType)
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
static bool isCompound(int proxyType)
btBroadphaseProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, void *userPtr, int collisionFilterGroup, int collisionFilterMask)
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:82
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:403
bool operator==(const btBroadphasePair &a, const btBroadphasePair &b)
static bool isConvex2d(int proxyType)
static bool isConcave(int proxyType)
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.