690 lines
18 KiB
C++
690 lines
18 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://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_COLLISION_OBJECT_H
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#define BT_COLLISION_OBJECT_H
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#include "LinearMath/btTransform.h"
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//island management, m_activationState1
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#define ACTIVE_TAG 1
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#define ISLAND_SLEEPING 2
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#define WANTS_DEACTIVATION 3
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#define DISABLE_DEACTIVATION 4
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#define DISABLE_SIMULATION 5
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#define FIXED_BASE_MULTI_BODY 6
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struct btBroadphaseProxy;
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class btCollisionShape;
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struct btCollisionShapeData;
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#include "LinearMath/btMotionState.h"
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#include "LinearMath/btAlignedAllocator.h"
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#include "LinearMath/btAlignedObjectArray.h"
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typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btCollisionObjectData btCollisionObjectDoubleData
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#define btCollisionObjectDataName "btCollisionObjectDoubleData"
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#else
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#define btCollisionObjectData btCollisionObjectFloatData
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#define btCollisionObjectDataName "btCollisionObjectFloatData"
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#endif
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/// btCollisionObject can be used to manage collision detection objects.
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/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
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/// They can be added to the btCollisionWorld.
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ATTRIBUTE_ALIGNED16(class)
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btCollisionObject
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{
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protected:
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btTransform m_worldTransform;
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///m_interpolationWorldTransform is used for CCD and interpolation
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///it can be either previous or future (predicted) transform
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btTransform m_interpolationWorldTransform;
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//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities)
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//without destroying the continuous interpolated motion (which uses this interpolation velocities)
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btVector3 m_interpolationLinearVelocity;
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btVector3 m_interpolationAngularVelocity;
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btVector3 m_anisotropicFriction;
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int m_hasAnisotropicFriction;
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btScalar m_contactProcessingThreshold;
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btBroadphaseProxy* m_broadphaseHandle;
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btCollisionShape* m_collisionShape;
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///m_extensionPointer is used by some internal low-level Bullet extensions.
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void* m_extensionPointer;
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///m_rootCollisionShape is temporarily used to store the original collision shape
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///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
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///If it is NULL, the m_collisionShape is not temporarily replaced.
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btCollisionShape* m_rootCollisionShape;
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int m_collisionFlags;
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int m_islandTag1;
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int m_companionId;
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int m_worldArrayIndex; // index of object in world's collisionObjects array
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mutable int m_activationState1;
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mutable btScalar m_deactivationTime;
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btScalar m_friction;
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btScalar m_restitution;
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btScalar m_rollingFriction; //torsional friction orthogonal to contact normal (useful to stop spheres rolling forever)
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btScalar m_spinningFriction; // torsional friction around the contact normal (useful for grasping)
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btScalar m_contactDamping;
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btScalar m_contactStiffness;
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///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
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///do not assign your own m_internalType unless you write a new dynamics object class.
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int m_internalType;
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///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
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void* m_userObjectPointer;
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int m_userIndex2;
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int m_userIndex;
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int m_userIndex3;
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///time of impact calculation
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btScalar m_hitFraction;
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///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
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btScalar m_ccdSweptSphereRadius;
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/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
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btScalar m_ccdMotionThreshold;
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/// If some object should have elaborate collision filtering by sub-classes
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int m_checkCollideWith;
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btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck;
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///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
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int m_updateRevision;
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btVector3 m_customDebugColorRGB;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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enum CollisionFlags
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{
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CF_DYNAMIC_OBJECT = 0,
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CF_STATIC_OBJECT = 1,
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CF_KINEMATIC_OBJECT = 2,
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CF_NO_CONTACT_RESPONSE = 4,
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CF_CUSTOM_MATERIAL_CALLBACK = 8, //this allows per-triangle material (friction/restitution)
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CF_CHARACTER_OBJECT = 16,
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CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
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CF_DISABLE_SPU_COLLISION_PROCESSING = 64, //disable parallel/SPU processing
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CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
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CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
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CF_HAS_FRICTION_ANCHOR = 512,
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CF_HAS_COLLISION_SOUND_TRIGGER = 1024
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};
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enum CollisionObjectTypes
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{
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CO_COLLISION_OBJECT = 1,
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CO_RIGID_BODY = 2,
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///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
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///It is useful for collision sensors, explosion objects, character controller etc.
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CO_GHOST_OBJECT = 4,
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CO_SOFT_BODY = 8,
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CO_HF_FLUID = 16,
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CO_USER_TYPE = 32,
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CO_FEATHERSTONE_LINK = 64
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};
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enum AnisotropicFrictionFlags
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{
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CF_ANISOTROPIC_FRICTION_DISABLED = 0,
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CF_ANISOTROPIC_FRICTION = 1,
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CF_ANISOTROPIC_ROLLING_FRICTION = 2
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};
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SIMD_FORCE_INLINE bool mergesSimulationIslands() const
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{
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///static objects, kinematic and object without contact response don't merge islands
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return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE)) == 0);
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}
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const btVector3& getAnisotropicFriction() const
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{
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return m_anisotropicFriction;
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}
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void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
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{
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m_anisotropicFriction = anisotropicFriction;
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bool isUnity = (anisotropicFriction[0] != 1.f) || (anisotropicFriction[1] != 1.f) || (anisotropicFriction[2] != 1.f);
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m_hasAnisotropicFriction = isUnity ? frictionMode : 0;
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}
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bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
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{
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return (m_hasAnisotropicFriction & frictionMode) != 0;
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}
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///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
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///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
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void setContactProcessingThreshold(btScalar contactProcessingThreshold)
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{
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m_contactProcessingThreshold = contactProcessingThreshold;
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}
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btScalar getContactProcessingThreshold() const
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{
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return m_contactProcessingThreshold;
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}
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SIMD_FORCE_INLINE bool isStaticObject() const
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{
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return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
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}
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SIMD_FORCE_INLINE bool isKinematicObject() const
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{
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return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
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}
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SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const
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{
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return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0;
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}
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SIMD_FORCE_INLINE bool hasContactResponse() const
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{
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return (m_collisionFlags & CF_NO_CONTACT_RESPONSE) == 0;
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}
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btCollisionObject();
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virtual ~btCollisionObject();
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virtual void setCollisionShape(btCollisionShape * collisionShape)
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{
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m_updateRevision++;
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m_collisionShape = collisionShape;
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m_rootCollisionShape = collisionShape;
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}
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SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
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{
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return m_collisionShape;
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}
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SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
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{
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return m_collisionShape;
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}
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void setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
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{
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if (ignoreCollisionCheck)
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{
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//We don't check for duplicates. Is it ok to leave that up to the user of this API?
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//int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
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//if (index == m_objectsWithoutCollisionCheck.size())
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//{
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m_objectsWithoutCollisionCheck.push_back(co);
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//}
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}
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else
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{
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m_objectsWithoutCollisionCheck.remove(co);
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}
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m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
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}
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int getNumObjectsWithoutCollision() const
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{
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return m_objectsWithoutCollisionCheck.size();
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}
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const btCollisionObject* getObjectWithoutCollision(int index)
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{
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return m_objectsWithoutCollisionCheck[index];
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}
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virtual bool checkCollideWithOverride(const btCollisionObject* co) const
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{
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int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
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if (index < m_objectsWithoutCollisionCheck.size())
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{
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return false;
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}
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return true;
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}
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///Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
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///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
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void* internalGetExtensionPointer() const
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{
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return m_extensionPointer;
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}
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///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
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///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
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void internalSetExtensionPointer(void* pointer)
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{
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m_extensionPointer = pointer;
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}
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SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1; }
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void setActivationState(int newState) const;
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void setDeactivationTime(btScalar time)
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{
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m_deactivationTime = time;
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}
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btScalar getDeactivationTime() const
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{
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return m_deactivationTime;
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}
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void forceActivationState(int newState) const;
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void activate(bool forceActivation = false) const;
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SIMD_FORCE_INLINE bool isActive() const
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{
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return ((getActivationState() != FIXED_BASE_MULTI_BODY) && (getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
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}
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void setRestitution(btScalar rest)
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{
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m_updateRevision++;
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m_restitution = rest;
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}
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btScalar getRestitution() const
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{
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return m_restitution;
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}
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void setFriction(btScalar frict)
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{
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m_updateRevision++;
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m_friction = frict;
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}
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btScalar getFriction() const
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{
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return m_friction;
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}
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void setRollingFriction(btScalar frict)
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{
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m_updateRevision++;
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m_rollingFriction = frict;
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}
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btScalar getRollingFriction() const
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{
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return m_rollingFriction;
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}
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void setSpinningFriction(btScalar frict)
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{
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m_updateRevision++;
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m_spinningFriction = frict;
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}
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btScalar getSpinningFriction() const
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{
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return m_spinningFriction;
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}
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void setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
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{
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m_updateRevision++;
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m_contactStiffness = stiffness;
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m_contactDamping = damping;
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m_collisionFlags |= CF_HAS_CONTACT_STIFFNESS_DAMPING;
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//avoid divisions by zero...
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if (m_contactStiffness < SIMD_EPSILON)
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{
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m_contactStiffness = SIMD_EPSILON;
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}
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}
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btScalar getContactStiffness() const
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{
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return m_contactStiffness;
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}
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btScalar getContactDamping() const
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{
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return m_contactDamping;
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}
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///reserved for Bullet internal usage
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int getInternalType() const
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{
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return m_internalType;
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}
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btTransform& getWorldTransform()
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{
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return m_worldTransform;
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}
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const btTransform& getWorldTransform() const
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{
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return m_worldTransform;
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}
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void setWorldTransform(const btTransform& worldTrans)
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{
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m_updateRevision++;
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m_worldTransform = worldTrans;
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}
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SIMD_FORCE_INLINE btBroadphaseProxy* getBroadphaseHandle()
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{
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return m_broadphaseHandle;
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}
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SIMD_FORCE_INLINE const btBroadphaseProxy* getBroadphaseHandle() const
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{
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return m_broadphaseHandle;
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}
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void setBroadphaseHandle(btBroadphaseProxy * handle)
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{
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m_broadphaseHandle = handle;
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}
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const btTransform& getInterpolationWorldTransform() const
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{
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return m_interpolationWorldTransform;
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}
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btTransform& getInterpolationWorldTransform()
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{
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return m_interpolationWorldTransform;
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}
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void setInterpolationWorldTransform(const btTransform& trans)
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{
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m_updateRevision++;
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m_interpolationWorldTransform = trans;
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}
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void setInterpolationLinearVelocity(const btVector3& linvel)
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{
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m_updateRevision++;
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m_interpolationLinearVelocity = linvel;
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}
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void setInterpolationAngularVelocity(const btVector3& angvel)
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{
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m_updateRevision++;
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m_interpolationAngularVelocity = angvel;
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}
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const btVector3& getInterpolationLinearVelocity() const
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{
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return m_interpolationLinearVelocity;
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}
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const btVector3& getInterpolationAngularVelocity() const
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{
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return m_interpolationAngularVelocity;
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}
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SIMD_FORCE_INLINE int getIslandTag() const
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{
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return m_islandTag1;
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}
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void setIslandTag(int tag)
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{
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m_islandTag1 = tag;
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}
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SIMD_FORCE_INLINE int getCompanionId() const
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{
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return m_companionId;
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}
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void setCompanionId(int id)
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{
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m_companionId = id;
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}
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SIMD_FORCE_INLINE int getWorldArrayIndex() const
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{
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return m_worldArrayIndex;
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}
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// only should be called by CollisionWorld
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void setWorldArrayIndex(int ix)
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{
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m_worldArrayIndex = ix;
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}
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SIMD_FORCE_INLINE btScalar getHitFraction() const
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{
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return m_hitFraction;
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}
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void setHitFraction(btScalar hitFraction)
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{
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m_hitFraction = hitFraction;
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}
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SIMD_FORCE_INLINE int getCollisionFlags() const
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{
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return m_collisionFlags;
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}
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void setCollisionFlags(int flags)
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{
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m_collisionFlags = flags;
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}
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///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
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btScalar getCcdSweptSphereRadius() const
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{
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return m_ccdSweptSphereRadius;
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}
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///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
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void setCcdSweptSphereRadius(btScalar radius)
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{
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m_ccdSweptSphereRadius = radius;
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}
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btScalar getCcdMotionThreshold() const
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{
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return m_ccdMotionThreshold;
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}
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btScalar getCcdSquareMotionThreshold() const
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{
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return m_ccdMotionThreshold * m_ccdMotionThreshold;
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}
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/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
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void setCcdMotionThreshold(btScalar ccdMotionThreshold)
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{
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m_ccdMotionThreshold = ccdMotionThreshold;
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}
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///users can point to their objects, userPointer is not used by Bullet
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void* getUserPointer() const
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{
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return m_userObjectPointer;
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}
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int getUserIndex() const
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{
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return m_userIndex;
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}
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int getUserIndex2() const
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{
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return m_userIndex2;
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}
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int getUserIndex3() const
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{
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return m_userIndex3;
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}
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///users can point to their objects, userPointer is not used by Bullet
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void setUserPointer(void* userPointer)
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{
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m_userObjectPointer = userPointer;
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}
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///users can point to their objects, userPointer is not used by Bullet
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void setUserIndex(int index)
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|
{
|
|
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
|