btBroadphaseProxy.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  https://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_BROADPHASE_PROXY_H
#define BT_BROADPHASE_PROXY_H
 
#include "LinearMath/btScalar.h"  //for SIMD_FORCE_INLINE
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"
 
enum BroadphaseNativeTypes
{
        // polyhedral convex shapes
        BOX_SHAPE_PROXYTYPE,
        TRIANGLE_SHAPE_PROXYTYPE,
        TETRAHEDRAL_SHAPE_PROXYTYPE,
        CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
        CONVEX_HULL_SHAPE_PROXYTYPE,
        CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
        CUSTOM_POLYHEDRAL_SHAPE_TYPE,
        //implicit convex shapes
        IMPLICIT_CONVEX_SHAPES_START_HERE,
        SPHERE_SHAPE_PROXYTYPE,
        MULTI_SPHERE_SHAPE_PROXYTYPE,
        CAPSULE_SHAPE_PROXYTYPE,
        CONE_SHAPE_PROXYTYPE,
        CONVEX_SHAPE_PROXYTYPE,
        CYLINDER_SHAPE_PROXYTYPE,
        UNIFORM_SCALING_SHAPE_PROXYTYPE,
        MINKOWSKI_SUM_SHAPE_PROXYTYPE,
        MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
        BOX_2D_SHAPE_PROXYTYPE,
        CONVEX_2D_SHAPE_PROXYTYPE,
        CUSTOM_CONVEX_SHAPE_TYPE,
        //concave shapes
        CONCAVE_SHAPES_START_HERE,
        //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
        TRIANGLE_MESH_SHAPE_PROXYTYPE,
        SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
        FAST_CONCAVE_MESH_PROXYTYPE,
        //terrain
        TERRAIN_SHAPE_PROXYTYPE,
        GIMPACT_SHAPE_PROXYTYPE,
        MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
 
        EMPTY_SHAPE_PROXYTYPE,
        STATIC_PLANE_PROXYTYPE,
        CUSTOM_CONCAVE_SHAPE_TYPE,
        SDF_SHAPE_PROXYTYPE = CUSTOM_CONCAVE_SHAPE_TYPE,
        CONCAVE_SHAPES_END_HERE,
 
        COMPOUND_SHAPE_PROXYTYPE,
 
        SOFTBODY_SHAPE_PROXYTYPE,
        HFFLUID_SHAPE_PROXYTYPE,
        HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
        INVALID_SHAPE_PROXYTYPE,
 
        MAX_BROADPHASE_COLLISION_TYPES
 
};
 
ATTRIBUTE_ALIGNED16(struct)
btBroadphaseProxy
{
        BT_DECLARE_ALIGNED_ALLOCATOR();
 
        enum CollisionFilterGroups
        {
                DefaultFilter = 1,
                StaticFilter = 2,
                KinematicFilter = 4,
                DebrisFilter = 8,
                SensorTrigger = 16,
                CharacterFilter = 32,
                AllFilter = -1  //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
        };
 
        //Usually the client btCollisionObject or Rigidbody class
        void* m_clientObject;
        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.
 
        btVector3 m_aabbMin;
        btVector3 m_aabbMax;
 
        SIMD_FORCE_INLINE int getUid() const
        {
                return m_uniqueId;
        }
 
        //used for memory pools
        btBroadphaseProxy() : m_clientObject(0)
        {
        }
 
        btBroadphaseProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
                : m_clientObject(userPtr),
                  m_collisionFilterGroup(collisionFilterGroup),
                  m_collisionFilterMask(collisionFilterMask),
                  m_aabbMin(aabbMin),
                  m_aabbMax(aabbMax)
        {
        }
 
        static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
        {
                return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
        }
 
        static SIMD_FORCE_INLINE bool isConvex(int proxyType)
        {
                return (proxyType < CONCAVE_SHAPES_START_HERE);
        }
 
        static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
        {
                return (isConcave(proxyType) && !(proxyType == GIMPACT_SHAPE_PROXYTYPE));
        }
 
        static SIMD_FORCE_INLINE bool isConcave(int proxyType)
        {
                return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
                                (proxyType < CONCAVE_SHAPES_END_HERE));
        }
        static SIMD_FORCE_INLINE bool isCompound(int proxyType)
        {
                return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
        }
 
        static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
        {
                return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
        }
 
        static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
        {
                return (proxyType == STATIC_PLANE_PROXYTYPE);
        }
 
        static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
        {
                return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
        }
};
 
class btCollisionAlgorithm;
 
struct btBroadphaseProxy;
 
ATTRIBUTE_ALIGNED16(struct)
btBroadphasePair
{
        btBroadphasePair()
                : m_pProxy0(0),
                  m_pProxy1(0),
                  m_algorithm(0),
                  m_internalInfo1(0)
        {
        }
 
        BT_DECLARE_ALIGNED_ALLOCATOR();
 
        btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1)
        {
                //keep them sorted, so the std::set operations work
                if (proxy0.m_uniqueId < proxy1.m_uniqueId)
                {
                        m_pProxy0 = &proxy0;
                        m_pProxy1 = &proxy1;
                }
                else
                {
                        m_pProxy0 = &proxy1;
                        m_pProxy1 = &proxy0;
                }
 
                m_algorithm = 0;
                m_internalInfo1 = 0;
        }
 
        btBroadphaseProxy* m_pProxy0;
        btBroadphaseProxy* m_pProxy1;
 
        mutable btCollisionAlgorithm* m_algorithm;
        union {
                void* m_internalInfo1;
                int m_internalTmpValue;
        };  //don't use this data, it will be removed in future version.
};
 
/*
//comparison for set operation, see Solid DT_Encounter
SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) 
{ 
    return a.m_pProxy0 < b.m_pProxy0 || 
        (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); 
}
*/
 
class btBroadphasePairSortPredicate
{
public:
        bool operator()(const btBroadphasePair& a, const btBroadphasePair& b) const
        {
                const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
                const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
                const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
                const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
 
                return uidA0 > uidB0 ||
                           (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
                           (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
        }
};
 
SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
{
        return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
}
 
#endif  //BT_BROADPHASE_PROXY_H