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Diffstat (limited to 'extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h | 177 |
1 files changed, 177 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h new file mode 100644 index 00000000000..713d7d1aa19 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -0,0 +1,177 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BROADPHASE_PROXY_H +#define BROADPHASE_PROXY_H + + + +/// btDispatcher uses these types +/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave +/// to facilitate type checking +enum BroadphaseNativeTypes +{ +// polyhedral convex shapes + BOX_SHAPE_PROXYTYPE, + TRIANGLE_SHAPE_PROXYTYPE, + TETRAHEDRAL_SHAPE_PROXYTYPE, + CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE, + CONVEX_HULL_SHAPE_PROXYTYPE, +//implicit convex shapes +IMPLICIT_CONVEX_SHAPES_START_HERE, + SPHERE_SHAPE_PROXYTYPE, + MULTI_SPHERE_SHAPE_PROXYTYPE, + CONE_SHAPE_PROXYTYPE, + CONVEX_SHAPE_PROXYTYPE, + CYLINDER_SHAPE_PROXYTYPE, + MINKOWSKI_SUM_SHAPE_PROXYTYPE, + MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE, +//concave shapes +CONCAVE_SHAPES_START_HERE, + //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! + TRIANGLE_MESH_SHAPE_PROXYTYPE, + ///used for demo integration FAST/Swift collision library and Bullet + FAST_CONCAVE_MESH_PROXYTYPE, + + EMPTY_SHAPE_PROXYTYPE, + STATIC_PLANE_PROXYTYPE, +CONCAVE_SHAPES_END_HERE, + + COMPOUND_SHAPE_PROXYTYPE, + + MAX_BROADPHASE_COLLISION_TYPES +}; + + +///btBroadphaseProxy +struct btBroadphaseProxy +{ + + ///optional filtering to cull potential collisions + enum CollisionFilterGroups + { + DefaultFilter = 1, + StaticFilter = 2, + KinematicFilter = 4, + DebrisFilter = 8, + AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter, + }; + + //Usually the client btCollisionObject or Rigidbody class + void* m_clientObject; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + + //used for memory pools + btBroadphaseProxy() :m_clientObject(0){} + + btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) + :m_clientObject(userPtr), + m_collisionFilterGroup(collisionFilterGroup), + m_collisionFilterMask(collisionFilterMask) + { + } + + static inline bool isPolyhedral(int proxyType) + { + return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE); + } + + static inline bool isConvex(int proxyType) + { + return (proxyType < CONCAVE_SHAPES_START_HERE); + } + + static inline bool isConcave(int proxyType) + { + return ((proxyType > CONCAVE_SHAPES_START_HERE) && + (proxyType < CONCAVE_SHAPES_END_HERE)); + } + static inline bool isCompound(int proxyType) + { + return (proxyType == COMPOUND_SHAPE_PROXYTYPE); + } + +}; + +class btCollisionAlgorithm; + +struct btBroadphaseProxy; + +//Increase SIMPLE_MAX_ALGORITHMS to allow multiple btDispatchers caching their own algorithms +#define SIMPLE_MAX_ALGORITHMS 1 + +/// contains a pair of aabb-overlapping objects +struct btBroadphasePair +{ + btBroadphasePair () + : + m_pProxy0(0), + m_pProxy1(0) + { + for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++) + { + m_algorithms[i] = 0; + } + } + + btBroadphasePair(const btBroadphasePair& other) + : m_pProxy0(other.m_pProxy0), + m_pProxy1(other.m_pProxy1) + { + for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++) + { + m_algorithms[i] = other.m_algorithms[i]; + } + } + btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1) + { + + //keep them sorted, so the std::set operations work + if (&proxy0 < &proxy1) + { + m_pProxy0 = &proxy0; + m_pProxy1 = &proxy1; + } + else + { + m_pProxy0 = &proxy1; + m_pProxy1 = &proxy0; + } + + for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++) + { + m_algorithms[i] = 0; + } + + } + + btBroadphaseProxy* m_pProxy0; + btBroadphaseProxy* m_pProxy1; + + mutable btCollisionAlgorithm* m_algorithms[SIMPLE_MAX_ALGORITHMS]; +}; + + +//comparison for set operation, see Solid DT_Encounter +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); +} + + +#endif //BROADPHASE_PROXY_H + |