btCollisionWorld.h

Go to the documentation of this file.

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://bulletphysics.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 COLLISION_WORLD_H
#define COLLISION_WORLD_H

class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
class btSerializer;

#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btCollisionObject.h"
#include "btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "LinearMath/btAlignedObjectArray.h"

class btCollisionWorld
{

        
protected:

        btAlignedObjectArray<btCollisionObject*>        m_collisionObjects;
        
        btDispatcher*   m_dispatcher1;

        btDispatcherInfo        m_dispatchInfo;

        btStackAlloc*   m_stackAlloc;

        btBroadphaseInterface*  m_broadphasePairCache;

        btIDebugDraw*   m_debugDrawer;

        bool m_forceUpdateAllAabbs;

        void    serializeCollisionObjects(btSerializer* serializer);

public:

        //this constructor doesn't own the dispatcher and paircache/broadphase
        btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);

        virtual ~btCollisionWorld();

        void    setBroadphase(btBroadphaseInterface*    pairCache)
        {
                m_broadphasePairCache = pairCache;
        }

        const btBroadphaseInterface*    getBroadphase() const
        {
                return m_broadphasePairCache;
        }

        btBroadphaseInterface*  getBroadphase()
        {
                return m_broadphasePairCache;
        }

        btOverlappingPairCache* getPairCache()
        {
                return m_broadphasePairCache->getOverlappingPairCache();
        }


        btDispatcher*   getDispatcher()
        {
                return m_dispatcher1;
        }

        const btDispatcher*     getDispatcher() const
        {
                return m_dispatcher1;
        }

        void    updateSingleAabb(btCollisionObject* colObj);

        virtual void    updateAabbs();
        
        virtual void    setDebugDrawer(btIDebugDraw*    debugDrawer)
        {
                        m_debugDrawer = debugDrawer;
        }

        virtual btIDebugDraw*   getDebugDrawer()
        {
                return m_debugDrawer;
        }

        virtual void    debugDrawWorld();

        virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);


        struct  LocalShapeInfo
        {
                int     m_shapePart;
                int     m_triangleIndex;
                
                //const btCollisionShape*       m_shapeTemp;
                //const btTransform*    m_shapeLocalTransform;
        };

        struct  LocalRayResult
        {
                LocalRayResult(btCollisionObject*       collisionObject, 
                        LocalShapeInfo* localShapeInfo,
                        const btVector3&                hitNormalLocal,
                        btScalar hitFraction)
                :m_collisionObject(collisionObject),
                m_localShapeInfo(localShapeInfo),
                m_hitNormalLocal(hitNormalLocal),
                m_hitFraction(hitFraction)
                {
                }

                btCollisionObject*              m_collisionObject;
                LocalShapeInfo*                 m_localShapeInfo;
                btVector3                               m_hitNormalLocal;
                btScalar                                m_hitFraction;

        };

        struct  RayResultCallback
        {
                btScalar        m_closestHitFraction;
                btCollisionObject*              m_collisionObject;
                short int       m_collisionFilterGroup;
                short int       m_collisionFilterMask;
      //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
      unsigned int m_flags;

                virtual ~RayResultCallback()
                {
                }
                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)
                {
                }

                virtual bool needsCollision(btBroadphaseProxy* proxy0) const
                {
                        bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
                        collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
                        return collides;
                }


                virtual btScalar        addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
        };

        struct  ClosestRayResultCallback : public RayResultCallback
        {
                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_hitNormalWorld;
                btVector3       m_hitPointWorld;
                        
                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
                        {
                                m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
                        }
                        m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
                        return rayResult.m_hitFraction;
                }
        };


        struct LocalConvexResult
        {
                LocalConvexResult(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)
                {
                }

                btCollisionObject*              m_hitCollisionObject;
                LocalShapeInfo*                 m_localShapeInfo;
                btVector3                               m_hitNormalLocal;
                btVector3                               m_hitPointLocal;
                btScalar                                m_hitFraction;
        };

        struct  ConvexResultCallback
        {
                btScalar        m_closestHitFraction;
                short int       m_collisionFilterGroup;
                short int       m_collisionFilterMask;
                
                ConvexResultCallback()
                        :m_closestHitFraction(btScalar(1.)),
                        m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
                        m_collisionFilterMask(btBroadphaseProxy::AllFilter)
                {
                }

                virtual ~ConvexResultCallback()
                {
                }
                
                bool    hasHit() const
                {
                        return (m_closestHitFraction < btScalar(1.));
                }

                

                virtual bool needsCollision(btBroadphaseProxy* proxy0) const
                {
                        bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
                        collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
                        return collides;
                }

                virtual btScalar        addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
        };

        struct  ClosestConvexResultCallback : public ConvexResultCallback
        {
                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_hitNormalWorld;
                btVector3       m_hitPointWorld;
                btCollisionObject*      m_hitCollisionObject;
                
                virtual btScalar        addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
                {
//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
                        {
                                m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
                        }
                        m_hitPointWorld = convexResult.m_hitPointLocal;
                        return convexResult.m_hitFraction;
                }
        };

        struct  ContactResultCallback
        {
                short int       m_collisionFilterGroup;
                short int       m_collisionFilterMask;
                
                ContactResultCallback()
                        :m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
                        m_collisionFilterMask(btBroadphaseProxy::AllFilter)
                {
                }

                virtual ~ContactResultCallback()
                {
                }
                
                virtual bool needsCollision(btBroadphaseProxy* proxy0) const
                {
                        bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
                        collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
                        return collides;
                }

                virtual btScalar        addSingleResult(btManifoldPoint& cp,    const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
        };



        int     getNumCollisionObjects() const
        {
                return int(m_collisionObjects.size());
        }

        virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; 

        void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback,  btScalar allowedCcdPenetration = btScalar(0.)) const;

        void    contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);

        void    contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);


        static void     rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
                                          btCollisionObject* collisionObject,
                                          const btCollisionShape* collisionShape,
                                          const btTransform& colObjWorldTransform,
                                          RayResultCallback& resultCallback);

        static void     objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
                                          btCollisionObject* collisionObject,
                                          const btCollisionShape* collisionShape,
                                          const btTransform& colObjWorldTransform,
                                          ConvexResultCallback& resultCallback, btScalar        allowedPenetration);

        virtual void    addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);

        btCollisionObjectArray& getCollisionObjectArray()
        {
                return m_collisionObjects;
        }

        const btCollisionObjectArray& getCollisionObjectArray() const
        {
                return m_collisionObjects;
        }


        virtual void    removeCollisionObject(btCollisionObject* collisionObject);

        virtual void    performDiscreteCollisionDetection();

        btDispatcherInfo& getDispatchInfo()
        {
                return m_dispatchInfo;
        }

        const btDispatcherInfo& getDispatchInfo() const
        {
                return m_dispatchInfo;
        }
        
        bool    getForceUpdateAllAabbs() const
        {
                return m_forceUpdateAllAabbs;
        }
        void setForceUpdateAllAabbs( bool forceUpdateAllAabbs)
        {
                m_forceUpdateAllAabbs = forceUpdateAllAabbs;
        }

        virtual void    serialize(btSerializer* serializer);

};


#endif //COLLISION_WORLD_H

---

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