btBroadphaseProxy.h

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/*
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

#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,
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;
        short int m_collisionFilterGroup;
        short int m_collisionFilterMask;
        void*   m_multiSapParentProxy;          
        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),m_multiSapParentProxy(0)
        {
        }

        btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
                :m_clientObject(userPtr),
                m_collisionFilterGroup(collisionFilterGroup),
                m_collisionFilterMask(collisionFilterMask),
                m_aabbMin(aabbMin),
                m_aabbMax(aabbMax)
        {
                m_multiSapParentProxy = multiSapParentProxy;
        }

        

        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   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(const btBroadphasePair& other)
                :               m_pProxy0(other.m_pProxy0),
                                m_pProxy1(other.m_pProxy1),
                                m_algorithm(other.m_algorithm),
                                m_internalInfo1(other.m_internalInfo1)
        {
        }
        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 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 //BROADPHASE_PROXY_H

---

bullet
Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Fri Jan 11 10:10:12 2013