e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
125 lines
3.7 KiB
C++
125 lines
3.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_FEATHERSTONE_LINK_COLLIDER_H
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#define BT_FEATHERSTONE_LINK_COLLIDER_H
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "btMultiBody.h"
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class btMultiBodyLinkCollider : public btCollisionObject
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{
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//protected:
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public:
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btMultiBody* m_multiBody;
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int m_link;
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btMultiBodyLinkCollider (btMultiBody* multiBody,int link)
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:m_multiBody(multiBody),
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m_link(link)
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{
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m_checkCollideWith = true;
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//we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
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//this means that some constraints might point to bodies that are not in the islands, causing crashes
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//if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
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{
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m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
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}
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// else
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//{
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// m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
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//}
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m_internalType = CO_FEATHERSTONE_LINK;
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}
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static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj)
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{
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if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK)
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return (btMultiBodyLinkCollider*)colObj;
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return 0;
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}
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static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj)
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{
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if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK)
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return (btMultiBodyLinkCollider*)colObj;
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return 0;
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}
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virtual bool checkCollideWithOverride(const btCollisionObject* co) const
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{
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const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co);
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if (!other)
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return true;
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if (other->m_multiBody != this->m_multiBody)
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return true;
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if (!m_multiBody->hasSelfCollision())
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return false;
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//check if 'link' has collision disabled
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if (m_link>=0)
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{
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const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
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if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
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{
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int parent_of_this = m_link;
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while (1)
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{
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if (parent_of_this==-1)
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break;
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parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
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if (parent_of_this==other->m_link)
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{
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return false;
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}
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}
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}
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else if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
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{
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if ( link.m_parent == other->m_link)
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return false;
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}
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}
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if (other->m_link>=0)
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{
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const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
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if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
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{
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int parent_of_other = other->m_link;
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while (1)
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{
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if (parent_of_other==-1)
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break;
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parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
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if (parent_of_other==this->m_link)
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return false;
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}
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}
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else if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
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{
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if (otherLink.m_parent == this->m_link)
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return false;
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}
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}
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return true;
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}
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};
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#endif //BT_FEATHERSTONE_LINK_COLLIDER_H
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