Bullet Collision Detection & Physics Library
btMultiBodyLinkCollider.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_FEATHERSTONE_LINK_COLLIDER_H
17#define BT_FEATHERSTONE_LINK_COLLIDER_H
18
20
21#include "btMultiBody.h"
23
24#ifdef BT_USE_DOUBLE_PRECISION
25#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
26#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
27#else
28#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
29#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
30#endif
31
33{
34 //protected:
35public:
37 int m_link;
38
40 {
41
42 }
45 m_link(link)
46 {
47 m_checkCollideWith = true;
48 //we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
49 //this means that some constraints might point to bodies that are not in the islands, causing crashes
50 //if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
51 {
53 }
54 // else
55 //{
56 // m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
57 //}
58
60 }
62 {
63 if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
65 return 0;
66 }
68 {
69 if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
71 return 0;
72 }
73
75 {
77 if (!other)
78 return true;
79 if (other->m_multiBody != this->m_multiBody)
80 return true;
82 return false;
83
84 //check if 'link' has collision disabled
85 if (m_link >= 0)
86 {
87 const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
89 {
91 while (1)
92 {
93 if (parent_of_this == -1)
94 break;
96 if (parent_of_this == other->m_link)
97 {
98 return false;
99 }
100 }
101 }
103 {
104 if (link.m_parent == other->m_link)
105 return false;
106 }
107 }
108
109 if (other->m_link >= 0)
110 {
111 const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
113 {
114 int parent_of_other = other->m_link;
115 while (1)
116 {
117 if (parent_of_other == -1)
118 break;
120 if (parent_of_other == this->m_link)
121 return false;
122 }
123 }
125 {
126 if (otherLink.m_parent == this->m_link)
127 return false;
128 }
129 }
130 return true;
131 }
132
134 {
136 }
137
138 bool isKinematic() const
139 {
140 return isKinematicObject();
141 }
142
144 {
148 }
149
150 virtual int calculateSerializeBufferSize() const;
151
153 virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
154};
155
156// clang-format off
157
159{
163 char m_padding[4];
164};
165
167{
171 char m_padding[4];
172};
173
174// clang-format on
175
177{
178 return sizeof(btMultiBodyLinkColliderData);
179}
180
182{
185
186 dataOut->m_link = this->m_link;
187 dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody);
188
189 // Fill padding with zeros to appease msan.
190 memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
191
193}
194
195#endif //BT_FEATHERSTONE_LINK_COLLIDER_H
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
#define btMultiBodyLinkColliderData
#define btMultiBodyLinkColliderDataName
#define btMultiBodyData
serialization data, don't change them if you are not familiar with the details of the serialization m...
Definition btMultiBody.h:40
#define SIMD_FORCE_INLINE
Definition btScalar.h:98
btCollisionObject can be used to manage collision detection objects.
bool isStaticOrKinematicObject() const
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
void setCollisionFlags(int flags)
int m_checkCollideWith
If some object should have elaborate collision filtering by sub-classes.
int m_internalType
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody,...
bool isKinematicObject() const
int getCollisionFlags() const
btMultiBodyLinkCollider(btMultiBody *multiBody, int link)
static const btMultiBodyLinkCollider * upcast(const btCollisionObject *colObj)
virtual int calculateSerializeBufferSize() const
static btMultiBodyLinkCollider * upcast(btCollisionObject *colObj)
virtual bool checkCollideWithOverride(const btCollisionObject *co) const
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
void setDynamicType(int dynamicType)
bool hasSelfCollision() const
const btMultibodyLink & getLink(int index) const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btCollisionObjectDoubleData m_colObjData
btCollisionObjectFloatData m_colObjData