diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h | 347 |
1 files changed, 167 insertions, 180 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h index ec40c969f51..fd0e5b9bbdd 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -13,9 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - /** - * @page Bullet Documentation + * @mainpage Bullet Documentation * * @section intro_sec Introduction * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ). @@ -66,8 +65,6 @@ subject to the following restrictions: * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf * */ - - #ifndef BT_COLLISION_WORLD_H #define BT_COLLISION_WORLD_H @@ -87,144 +84,138 @@ class btSerializer; ///CollisionWorld is interface and container for the collision detection class btCollisionWorld { - - protected: + btAlignedObjectArray<btCollisionObject*> m_collisionObjects; - btAlignedObjectArray<btCollisionObject*> m_collisionObjects; - - btDispatcher* m_dispatcher1; + btDispatcher* m_dispatcher1; - btDispatcherInfo m_dispatchInfo; + btDispatcherInfo m_dispatchInfo; - btBroadphaseInterface* m_broadphasePairCache; + btBroadphaseInterface* m_broadphasePairCache; - btIDebugDraw* m_debugDrawer; + btIDebugDraw* m_debugDrawer; ///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs ///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB) bool m_forceUpdateAllAabbs; - void serializeCollisionObjects(btSerializer* serializer); + void serializeCollisionObjects(btSerializer* serializer); -public: + void serializeContactManifolds(btSerializer* serializer); +public: //this constructor doesn't own the dispatcher and paircache/broadphase - btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration); + btCollisionWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration); virtual ~btCollisionWorld(); - void setBroadphase(btBroadphaseInterface* pairCache) + void setBroadphase(btBroadphaseInterface* pairCache) { m_broadphasePairCache = pairCache; } - const btBroadphaseInterface* getBroadphase() const + const btBroadphaseInterface* getBroadphase() const { return m_broadphasePairCache; } - btBroadphaseInterface* getBroadphase() + btBroadphaseInterface* getBroadphase() { return m_broadphasePairCache; } - btOverlappingPairCache* getPairCache() + btOverlappingPairCache* getPairCache() { return m_broadphasePairCache->getOverlappingPairCache(); } - - btDispatcher* getDispatcher() + btDispatcher* getDispatcher() { return m_dispatcher1; } - const btDispatcher* getDispatcher() const + const btDispatcher* getDispatcher() const { return m_dispatcher1; } - void updateSingleAabb(btCollisionObject* colObj); + void updateSingleAabb(btCollisionObject* colObj); - virtual void updateAabbs(); + virtual void updateAabbs(); ///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) ///it can be useful to use if you perform ray tests without collision detection/simulation - virtual void computeOverlappingPairs(); + virtual void computeOverlappingPairs(); - - virtual void setDebugDrawer(btIDebugDraw* debugDrawer) + virtual void setDebugDrawer(btIDebugDraw* debugDrawer) { - m_debugDrawer = debugDrawer; + m_debugDrawer = debugDrawer; } - virtual btIDebugDraw* getDebugDrawer() + virtual btIDebugDraw* getDebugDrawer() { return m_debugDrawer; } - virtual void debugDrawWorld(); + virtual void debugDrawWorld(); virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color); - ///LocalShapeInfo gives extra information for complex shapes ///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart - struct LocalShapeInfo + struct LocalShapeInfo { - int m_shapePart; - int m_triangleIndex; - + int m_shapePart; + int m_triangleIndex; + //const btCollisionShape* m_shapeTemp; //const btTransform* m_shapeLocalTransform; }; - struct LocalRayResult + struct LocalRayResult { - LocalRayResult(const btCollisionObject* collisionObject, - LocalShapeInfo* localShapeInfo, - const btVector3& hitNormalLocal, - btScalar hitFraction) - :m_collisionObject(collisionObject), - m_localShapeInfo(localShapeInfo), - m_hitNormalLocal(hitNormalLocal), - m_hitFraction(hitFraction) + LocalRayResult(const btCollisionObject* collisionObject, + LocalShapeInfo* localShapeInfo, + const btVector3& hitNormalLocal, + btScalar hitFraction) + : m_collisionObject(collisionObject), + m_localShapeInfo(localShapeInfo), + m_hitNormalLocal(hitNormalLocal), + m_hitFraction(hitFraction) { } - const btCollisionObject* m_collisionObject; - LocalShapeInfo* m_localShapeInfo; - btVector3 m_hitNormalLocal; - btScalar m_hitFraction; - + const btCollisionObject* m_collisionObject; + LocalShapeInfo* m_localShapeInfo; + btVector3 m_hitNormalLocal; + btScalar m_hitFraction; }; ///RayResultCallback is used to report new raycast results - struct RayResultCallback + struct RayResultCallback { - btScalar m_closestHitFraction; - const btCollisionObject* m_collisionObject; - short int m_collisionFilterGroup; - short int m_collisionFilterMask; + btScalar m_closestHitFraction; + const btCollisionObject* m_collisionObject; + int m_collisionFilterGroup; + int m_collisionFilterMask; //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke. unsigned int m_flags; virtual ~RayResultCallback() { } - bool hasHit() const + bool hasHit() const { return (m_collisionObject != 0); } RayResultCallback() - :m_closestHitFraction(btScalar(1.)), - m_collisionObject(0), - m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), - m_collisionFilterMask(btBroadphaseProxy::AllFilter), - //@BP Mod - m_flags(0) + : m_closestHitFraction(btScalar(1.)), + m_collisionObject(0), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter), + //@BP Mod + m_flags(0) { } @@ -235,62 +226,62 @@ public: return collides; } - - virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0; + virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace) = 0; }; - struct ClosestRayResultCallback : public RayResultCallback + struct ClosestRayResultCallback : public RayResultCallback { - ClosestRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld) - :m_rayFromWorld(rayFromWorld), - m_rayToWorld(rayToWorld) + ClosestRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld) + : m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld) { } - btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction - btVector3 m_rayToWorld; + btVector3 m_rayFromWorld; //used to calculate hitPointWorld from hitFraction + btVector3 m_rayToWorld; + + btVector3 m_hitNormalWorld; + btVector3 m_hitPointWorld; - btVector3 m_hitNormalWorld; - btVector3 m_hitPointWorld; - - virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) + virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace) { //caller already does the filter on the m_closestHitFraction btAssert(rayResult.m_hitFraction <= m_closestHitFraction); - + m_closestHitFraction = rayResult.m_hitFraction; m_collisionObject = rayResult.m_collisionObject; if (normalInWorldSpace) { m_hitNormalWorld = rayResult.m_hitNormalLocal; - } else + } + else { ///need to transform normal into worldspace - m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal; } - m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction); + m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction); return rayResult.m_hitFraction; } }; - struct AllHitsRayResultCallback : public RayResultCallback + struct AllHitsRayResultCallback : public RayResultCallback { - AllHitsRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld) - :m_rayFromWorld(rayFromWorld), - m_rayToWorld(rayToWorld) + AllHitsRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld) + : m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld) { } - btAlignedObjectArray<const btCollisionObject*> m_collisionObjects; + btAlignedObjectArray<const btCollisionObject*> m_collisionObjects; - btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction - btVector3 m_rayToWorld; + btVector3 m_rayFromWorld; //used to calculate hitPointWorld from hitFraction + btVector3 m_rayToWorld; - btAlignedObjectArray<btVector3> m_hitNormalWorld; - btAlignedObjectArray<btVector3> m_hitPointWorld; + btAlignedObjectArray<btVector3> m_hitNormalWorld; + btAlignedObjectArray<btVector3> m_hitPointWorld; btAlignedObjectArray<btScalar> m_hitFractions; - - virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) + + virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace) { m_collisionObject = rayResult.m_collisionObject; m_collisionObjects.push_back(rayResult.m_collisionObject); @@ -298,69 +289,66 @@ public: if (normalInWorldSpace) { hitNormalWorld = rayResult.m_hitNormalLocal; - } else + } + else { ///need to transform normal into worldspace - hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal; } m_hitNormalWorld.push_back(hitNormalWorld); btVector3 hitPointWorld; - hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction); + hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction); m_hitPointWorld.push_back(hitPointWorld); m_hitFractions.push_back(rayResult.m_hitFraction); return m_closestHitFraction; } }; - struct LocalConvexResult { - LocalConvexResult(const btCollisionObject* hitCollisionObject, - LocalShapeInfo* localShapeInfo, - const btVector3& hitNormalLocal, - const btVector3& hitPointLocal, - btScalar hitFraction - ) - :m_hitCollisionObject(hitCollisionObject), - m_localShapeInfo(localShapeInfo), - m_hitNormalLocal(hitNormalLocal), - m_hitPointLocal(hitPointLocal), - m_hitFraction(hitFraction) + LocalConvexResult(const btCollisionObject* hitCollisionObject, + LocalShapeInfo* localShapeInfo, + const btVector3& hitNormalLocal, + const btVector3& hitPointLocal, + btScalar hitFraction) + : m_hitCollisionObject(hitCollisionObject), + m_localShapeInfo(localShapeInfo), + m_hitNormalLocal(hitNormalLocal), + m_hitPointLocal(hitPointLocal), + m_hitFraction(hitFraction) { } - const btCollisionObject* m_hitCollisionObject; - LocalShapeInfo* m_localShapeInfo; - btVector3 m_hitNormalLocal; - btVector3 m_hitPointLocal; - btScalar m_hitFraction; + const btCollisionObject* m_hitCollisionObject; + LocalShapeInfo* m_localShapeInfo; + btVector3 m_hitNormalLocal; + btVector3 m_hitPointLocal; + btScalar m_hitFraction; }; ///RayResultCallback is used to report new raycast results - struct ConvexResultCallback + struct ConvexResultCallback { - btScalar m_closestHitFraction; - short int m_collisionFilterGroup; - short int m_collisionFilterMask; - + btScalar m_closestHitFraction; + int m_collisionFilterGroup; + int m_collisionFilterMask; + ConvexResultCallback() - :m_closestHitFraction(btScalar(1.)), - m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), - m_collisionFilterMask(btBroadphaseProxy::AllFilter) + : m_closestHitFraction(btScalar(1.)), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter) { } virtual ~ConvexResultCallback() { } - - bool hasHit() const + + bool hasHit() const { return (m_closestHitFraction < btScalar(1.)); } - - virtual bool needsCollision(btBroadphaseProxy* proxy0) const { bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; @@ -368,39 +356,40 @@ public: return collides; } - virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0; + virtual btScalar addSingleResult(LocalConvexResult& convexResult, bool normalInWorldSpace) = 0; }; - struct ClosestConvexResultCallback : public ConvexResultCallback + struct ClosestConvexResultCallback : public ConvexResultCallback { - ClosestConvexResultCallback(const btVector3& convexFromWorld,const btVector3& convexToWorld) - :m_convexFromWorld(convexFromWorld), - m_convexToWorld(convexToWorld), - m_hitCollisionObject(0) + ClosestConvexResultCallback(const btVector3& convexFromWorld, const btVector3& convexToWorld) + : m_convexFromWorld(convexFromWorld), + m_convexToWorld(convexToWorld), + m_hitCollisionObject(0) { } - btVector3 m_convexFromWorld;//used to calculate hitPointWorld from hitFraction - btVector3 m_convexToWorld; + btVector3 m_convexFromWorld; //used to calculate hitPointWorld from hitFraction + btVector3 m_convexToWorld; - btVector3 m_hitNormalWorld; - btVector3 m_hitPointWorld; - const btCollisionObject* m_hitCollisionObject; - - virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) + btVector3 m_hitNormalWorld; + btVector3 m_hitPointWorld; + const btCollisionObject* m_hitCollisionObject; + + virtual btScalar addSingleResult(LocalConvexResult& convexResult, bool normalInWorldSpace) { -//caller already does the filter on the m_closestHitFraction + //caller already does the filter on the m_closestHitFraction btAssert(convexResult.m_hitFraction <= m_closestHitFraction); - + m_closestHitFraction = convexResult.m_hitFraction; m_hitCollisionObject = convexResult.m_hitCollisionObject; if (normalInWorldSpace) { m_hitNormalWorld = convexResult.m_hitNormalLocal; - } else + } + else { ///need to transform normal into worldspace - m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal; + m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis() * convexResult.m_hitNormalLocal; } m_hitPointWorld = convexResult.m_hitPointLocal; return convexResult.m_hitFraction; @@ -408,21 +397,23 @@ public: }; ///ContactResultCallback is used to report contact points - struct ContactResultCallback + struct ContactResultCallback { - short int m_collisionFilterGroup; - short int m_collisionFilterMask; - + int m_collisionFilterGroup; + int m_collisionFilterMask; + btScalar m_closestDistanceThreshold; + ContactResultCallback() - :m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), - m_collisionFilterMask(btBroadphaseProxy::AllFilter) + : m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter), + m_closestDistanceThreshold(0) { } virtual ~ContactResultCallback() { } - + virtual bool needsCollision(btBroadphaseProxy* proxy0) const { bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; @@ -430,58 +421,57 @@ public: return collides; } - virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0; + virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1) = 0; }; - - - int getNumCollisionObjects() const + int getNumCollisionObjects() const { return int(m_collisionObjects.size()); } /// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback /// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. - virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; + virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; /// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback /// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. - void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const; + void convexSweepTest(const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const; ///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. ///it reports one or more contact points for every overlapping object (including the one with deepest penetration) - void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback); + void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback); ///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. ///it reports one or more contact points (including the one with deepest penetration) - void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback); - + void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback); /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. /// This allows more customization. - static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, - btCollisionObject* collisionObject, - const btCollisionShape* collisionShape, - const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback); + static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + RayResultCallback& resultCallback); - static void rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans, - const btCollisionObjectWrapper* collisionObjectWrap, - RayResultCallback& resultCallback); + static void rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans, + const btCollisionObjectWrapper* collisionObjectWrap, + RayResultCallback& resultCallback); /// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. - static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans, - btCollisionObject* collisionObject, - const btCollisionShape* collisionShape, - const btTransform& colObjWorldTransform, - ConvexResultCallback& resultCallback, btScalar allowedPenetration); + static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans, const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + ConvexResultCallback& resultCallback, btScalar allowedPenetration); + + static void objectQuerySingleInternal(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans, + const btCollisionObjectWrapper* colObjWrap, + ConvexResultCallback& resultCallback, btScalar allowedPenetration); - static void objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans, - const btCollisionObjectWrapper* colObjWrap, - ConvexResultCallback& resultCallback, btScalar allowedPenetration); + virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter); - virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); + virtual void refreshBroadphaseProxy(btCollisionObject* collisionObject); btCollisionObjectArray& getCollisionObjectArray() { @@ -493,10 +483,9 @@ public: return m_collisionObjects; } + virtual void removeCollisionObject(btCollisionObject* collisionObject); - virtual void removeCollisionObject(btCollisionObject* collisionObject); - - virtual void performDiscreteCollisionDetection(); + virtual void performDiscreteCollisionDetection(); btDispatcherInfo& getDispatchInfo() { @@ -507,20 +496,18 @@ public: { return m_dispatchInfo; } - - bool getForceUpdateAllAabbs() const + + bool getForceUpdateAllAabbs() const { return m_forceUpdateAllAabbs; } - void setForceUpdateAllAabbs( bool forceUpdateAllAabbs) + void setForceUpdateAllAabbs(bool forceUpdateAllAabbs) { m_forceUpdateAllAabbs = forceUpdateAllAabbs; } ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo) - virtual void serialize(btSerializer* serializer); - + virtual void serialize(btSerializer* serializer); }; - -#endif //BT_COLLISION_WORLD_H +#endif //BT_COLLISION_WORLD_H |