libbullet-dev 2.87+dfsg-2 / usr / include / bullet / BulletCollision / CollisionDispatch / btCollisionObject.h

/*
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 BT_COLLISION_OBJECT_H
#define BT_COLLISION_OBJECT_H

#include "LinearMath/btTransform.h"

//island management, m_activationState1
#define ACTIVE_TAG 1
#define ISLAND_SLEEPING 2
#define WANTS_DEACTIVATION 3
#define DISABLE_DEACTIVATION 4
#define DISABLE_SIMULATION 5

struct	btBroadphaseProxy;
class	btCollisionShape;
struct btCollisionShapeData;
#include "LinearMath/btMotionState.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"

typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;

#ifdef BT_USE_DOUBLE_PRECISION
#define btCollisionObjectData btCollisionObjectDoubleData
#define btCollisionObjectDataName "btCollisionObjectDoubleData"
#else
#define btCollisionObjectData btCollisionObjectFloatData
#define btCollisionObjectDataName "btCollisionObjectFloatData"
#endif


/// btCollisionObject can be used to manage collision detection objects. 
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
/// They can be added to the btCollisionWorld.
ATTRIBUTE_ALIGNED16(class)	btCollisionObject
{

protected:

	btTransform	m_worldTransform;

	///m_interpolationWorldTransform is used for CCD and interpolation
	///it can be either previous or future (predicted) transform
	btTransform	m_interpolationWorldTransform;
	//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) 
	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
	btVector3	m_interpolationLinearVelocity;
	btVector3	m_interpolationAngularVelocity;
	
	btVector3	m_anisotropicFriction;
	int			m_hasAnisotropicFriction;
	btScalar	m_contactProcessingThreshold;	

	btBroadphaseProxy*		m_broadphaseHandle;
	btCollisionShape*		m_collisionShape;
	///m_extensionPointer is used by some internal low-level Bullet extensions.
	void*					m_extensionPointer;
	
	///m_rootCollisionShape is temporarily used to store the original collision shape
	///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
	///If it is NULL, the m_collisionShape is not temporarily replaced.
	btCollisionShape*		m_rootCollisionShape;

	int				m_collisionFlags;

	int				m_islandTag1;
	int				m_companionId;
    int             m_worldArrayIndex;  // index of object in world's collisionObjects array

	mutable int				m_activationState1;
	mutable btScalar			m_deactivationTime;

	btScalar		m_friction;
	btScalar		m_restitution;
	btScalar		m_rollingFriction;//torsional friction orthogonal to contact normal (useful to stop spheres rolling forever)
    btScalar        m_spinningFriction; // torsional friction around the contact normal (useful for grasping)
	btScalar		m_contactDamping;
	btScalar		m_contactStiffness;
	
	

	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
	///do not assign your own m_internalType unless you write a new dynamics object class.
	int				m_internalType;

	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer

	void*			m_userObjectPointer;

	int				m_userIndex2;
	
    int	m_userIndex;

	///time of impact calculation
	btScalar		m_hitFraction; 
	
	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
	btScalar		m_ccdSweptSphereRadius;

	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
	btScalar		m_ccdMotionThreshold;
	
	/// If some object should have elaborate collision filtering by sub-classes
	int			m_checkCollideWith;

	btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck;

	///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
	int			m_updateRevision;

	btVector3	m_customDebugColorRGB;

public:

	BT_DECLARE_ALIGNED_ALLOCATOR();

	enum CollisionFlags
	{
		CF_STATIC_OBJECT= 1,
		CF_KINEMATIC_OBJECT= 2,
		CF_NO_CONTACT_RESPONSE = 4,
		CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
		CF_CHARACTER_OBJECT = 16,
		CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
		CF_DISABLE_SPU_COLLISION_PROCESSING = 64,//disable parallel/SPU processing
		CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
		CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
		CF_HAS_FRICTION_ANCHOR = 512,
		CF_HAS_COLLISION_SOUND_TRIGGER = 1024
	};

	enum	CollisionObjectTypes
	{
		CO_COLLISION_OBJECT =1,
		CO_RIGID_BODY=2,
		///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
		///It is useful for collision sensors, explosion objects, character controller etc.
		CO_GHOST_OBJECT=4,
		CO_SOFT_BODY=8,
		CO_HF_FLUID=16,
		CO_USER_TYPE=32,
		CO_FEATHERSTONE_LINK=64
	};

	enum AnisotropicFrictionFlags
	{
		CF_ANISOTROPIC_FRICTION_DISABLED=0,
		CF_ANISOTROPIC_FRICTION = 1,
		CF_ANISOTROPIC_ROLLING_FRICTION = 2
	};

	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
	{
		///static objects, kinematic and object without contact response don't merge islands
		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
	}

	const btVector3& getAnisotropicFriction() const
	{
		return m_anisotropicFriction;
	}
	void	setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
	{
		m_anisotropicFriction = anisotropicFriction;
		bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
		m_hasAnisotropicFriction = isUnity?frictionMode : 0;
	}
	bool	hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
	{
		return (m_hasAnisotropicFriction&frictionMode)!=0;
	}

	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
	///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
	void	setContactProcessingThreshold( btScalar contactProcessingThreshold)
	{
		m_contactProcessingThreshold = contactProcessingThreshold;
	}
	btScalar	getContactProcessingThreshold() const
	{
		return m_contactProcessingThreshold;
	}

	SIMD_FORCE_INLINE bool		isStaticObject() const {
		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
	}

	SIMD_FORCE_INLINE bool		isKinematicObject() const
	{
		return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
	}

	SIMD_FORCE_INLINE bool		isStaticOrKinematicObject() const
	{
		return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
	}

	SIMD_FORCE_INLINE bool		hasContactResponse() const {
		return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
	}

	
	btCollisionObject();

	virtual ~btCollisionObject();

	virtual void	setCollisionShape(btCollisionShape* collisionShape)
	{
		m_updateRevision++;
		m_collisionShape = collisionShape;
		m_rootCollisionShape = collisionShape;
	}

	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const
	{
		return m_collisionShape;
	}

	SIMD_FORCE_INLINE btCollisionShape*	getCollisionShape()
	{
		return m_collisionShape;
	}

	void	setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
	{
		if (ignoreCollisionCheck)
		{
			//We don't check for duplicates. Is it ok to leave that up to the user of this API?
			//int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
			//if (index == m_objectsWithoutCollisionCheck.size())
			//{
			m_objectsWithoutCollisionCheck.push_back(co);
			//}
		}
		else
		{
			m_objectsWithoutCollisionCheck.remove(co);
		}
		m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
	}

	virtual bool	checkCollideWithOverride(const btCollisionObject*  co) const
	{
		int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
		if (index < m_objectsWithoutCollisionCheck.size())
		{
			return false;
		}
		return true;
	}


	

	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. 
	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
	void*		internalGetExtensionPointer() const
	{
		return m_extensionPointer;
	}
	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
	void	internalSetExtensionPointer(void* pointer)
	{
		m_extensionPointer = pointer;
	}

	SIMD_FORCE_INLINE	int	getActivationState() const { return m_activationState1;}
	
	void setActivationState(int newState) const;

	void	setDeactivationTime(btScalar time)
	{
		m_deactivationTime = time;
	}
	btScalar	getDeactivationTime() const
	{
		return m_deactivationTime;
	}

	void forceActivationState(int newState) const;

	void	activate(bool forceActivation = false) const;

	SIMD_FORCE_INLINE bool isActive() const
	{
		return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
	}

	void	setRestitution(btScalar rest)
	{
		m_updateRevision++;
		m_restitution = rest;
	}
	btScalar	getRestitution() const
	{
		return m_restitution;
	}
	void	setFriction(btScalar frict)
	{
		m_updateRevision++;
		m_friction = frict;
	}
	btScalar	getFriction() const
	{
		return m_friction;
	}

	void	setRollingFriction(btScalar frict)
	{
		m_updateRevision++;
		m_rollingFriction = frict;
	}
	btScalar	getRollingFriction() const
	{
		return m_rollingFriction;
	}
    void	setSpinningFriction(btScalar frict)
    {
        m_updateRevision++;
        m_spinningFriction = frict;
    }
    btScalar	getSpinningFriction() const
    {
        return m_spinningFriction;
    }
    void	setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
	{
		m_updateRevision++;
		m_contactStiffness = stiffness;
		m_contactDamping = damping;
		
		m_collisionFlags |=CF_HAS_CONTACT_STIFFNESS_DAMPING;
		
        //avoid divisions by zero...
		if (m_contactStiffness< SIMD_EPSILON)
        {
            m_contactStiffness = SIMD_EPSILON;
        }
	}
	
	btScalar	getContactStiffness() const
	{
		return m_contactStiffness;
	}
	
	btScalar	getContactDamping() const
	{
		return m_contactDamping;
	}
    
	///reserved for Bullet internal usage
	int	getInternalType() const
	{
		return m_internalType;
	}

	btTransform&	getWorldTransform()
	{
		return m_worldTransform;
	}

	const btTransform&	getWorldTransform() const
	{
		return m_worldTransform;
	}

	void	setWorldTransform(const btTransform& worldTrans)
	{
		m_updateRevision++;
		m_worldTransform = worldTrans;
	}


	SIMD_FORCE_INLINE btBroadphaseProxy*	getBroadphaseHandle()
	{
		return m_broadphaseHandle;
	}

	SIMD_FORCE_INLINE const btBroadphaseProxy*	getBroadphaseHandle() const
	{
		return m_broadphaseHandle;
	}

	void	setBroadphaseHandle(btBroadphaseProxy* handle)
	{
		m_broadphaseHandle = handle;
	}


	const btTransform&	getInterpolationWorldTransform() const
	{
		return m_interpolationWorldTransform;
	}

	btTransform&	getInterpolationWorldTransform()
	{
		return m_interpolationWorldTransform;
	}

	void	setInterpolationWorldTransform(const btTransform&	trans)
	{
		m_updateRevision++;
		m_interpolationWorldTransform = trans;
	}

	void	setInterpolationLinearVelocity(const btVector3& linvel)
	{
		m_updateRevision++;
		m_interpolationLinearVelocity = linvel;
	}

	void	setInterpolationAngularVelocity(const btVector3& angvel)
	{
		m_updateRevision++;
		m_interpolationAngularVelocity = angvel;
	}

	const btVector3&	getInterpolationLinearVelocity() const
	{
		return m_interpolationLinearVelocity;
	}

	const btVector3&	getInterpolationAngularVelocity() const
	{
		return m_interpolationAngularVelocity;
	}

	SIMD_FORCE_INLINE int getIslandTag() const
	{
		return	m_islandTag1;
	}

	void	setIslandTag(int tag)
	{
		m_islandTag1 = tag;
	}

	SIMD_FORCE_INLINE int getCompanionId() const
	{
		return	m_companionId;
	}

	void	setCompanionId(int id)
	{
		m_companionId = id;
	}

    SIMD_FORCE_INLINE int getWorldArrayIndex() const
    {
        return	m_worldArrayIndex;
    }

    // only should be called by CollisionWorld
    void setWorldArrayIndex(int ix)
    {
        m_worldArrayIndex = ix;
    }

    SIMD_FORCE_INLINE btScalar			getHitFraction() const
	{
		return m_hitFraction; 
	}

	void	setHitFraction(btScalar hitFraction)
	{
		m_hitFraction = hitFraction;
	}

	
	SIMD_FORCE_INLINE int	getCollisionFlags() const
	{
		return m_collisionFlags;
	}

	void	setCollisionFlags(int flags)
	{
		m_collisionFlags = flags;
	}
	
	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
	btScalar			getCcdSweptSphereRadius() const
	{
		return m_ccdSweptSphereRadius;
	}

	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
	void	setCcdSweptSphereRadius(btScalar radius)
	{
		m_ccdSweptSphereRadius = radius;
	}

	btScalar 	getCcdMotionThreshold() const
	{
		return m_ccdMotionThreshold;
	}

	btScalar 	getCcdSquareMotionThreshold() const
	{
		return m_ccdMotionThreshold*m_ccdMotionThreshold;
	}



	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
	void	setCcdMotionThreshold(btScalar ccdMotionThreshold)
	{
		m_ccdMotionThreshold = ccdMotionThreshold;
	}

	///users can point to their objects, userPointer is not used by Bullet
	void*	getUserPointer() const
	{
		return m_userObjectPointer;
	}

	int	getUserIndex() const
	{
		return m_userIndex;
	}
	
	int	getUserIndex2() const
	{
		return m_userIndex2;
	}
	
	///users can point to their objects, userPointer is not used by Bullet
	void	setUserPointer(void* userPointer)
	{
		m_userObjectPointer = userPointer;
	}

	///users can point to their objects, userPointer is not used by Bullet
	void	setUserIndex(int index)
	{
		m_userIndex = index;
	}
	
	void	setUserIndex2(int index)
	{
		m_userIndex2 = index;
	}

	int	getUpdateRevisionInternal() const
	{
		return m_updateRevision;
	}

	void	setCustomDebugColor(const btVector3& colorRGB)
	{
		m_customDebugColorRGB = colorRGB;
		m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
	}

	void	removeCustomDebugColor()
	{
		m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
	}

	bool getCustomDebugColor(btVector3& colorRGB) const
	{
		bool hasCustomColor = (0!=(m_collisionFlags&CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
		if (hasCustomColor)
		{
			colorRGB = m_customDebugColorRGB;
		}
		return hasCustomColor;
	}

	inline bool checkCollideWith(const btCollisionObject* co) const
	{
		if (m_checkCollideWith)
			return checkCollideWithOverride(co);

		return true;
	}

	virtual	int	calculateSerializeBufferSize()	const;

	///fills the dataBuffer and returns the struct name (and 0 on failure)
	virtual	const char*	serialize(void* dataBuffer, class btSerializer* serializer) const;

	virtual void serializeSingleObject(class btSerializer* serializer) const;

};

///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct	btCollisionObjectDoubleData
{
	void					*m_broadphaseHandle;
	void					*m_collisionShape;
	btCollisionShapeData	*m_rootCollisionShape;
	char					*m_name;

	btTransformDoubleData	m_worldTransform;
	btTransformDoubleData	m_interpolationWorldTransform;
	btVector3DoubleData		m_interpolationLinearVelocity;
	btVector3DoubleData		m_interpolationAngularVelocity;
	btVector3DoubleData		m_anisotropicFriction;
	double					m_contactProcessingThreshold;	
	double					m_deactivationTime;
	double					m_friction;
	double					m_rollingFriction;
	double                  m_contactDamping;
	double                  m_contactStiffness;
	double					m_restitution;
	double					m_hitFraction; 
	double					m_ccdSweptSphereRadius;
	double					m_ccdMotionThreshold;

	int						m_hasAnisotropicFriction;
	int						m_collisionFlags;
	int						m_islandTag1;
	int						m_companionId;
	int						m_activationState1;
	int						m_internalType;
	int						m_checkCollideWith;

	char	m_padding[4];
};

///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct	btCollisionObjectFloatData
{
	void					*m_broadphaseHandle;
	void					*m_collisionShape;
	btCollisionShapeData	*m_rootCollisionShape;
	char					*m_name;

	btTransformFloatData	m_worldTransform;
	btTransformFloatData	m_interpolationWorldTransform;
	btVector3FloatData		m_interpolationLinearVelocity;
	btVector3FloatData		m_interpolationAngularVelocity;
	btVector3FloatData		m_anisotropicFriction;
	float					m_contactProcessingThreshold;	
	float					m_deactivationTime;
	float					m_friction;
	float					m_rollingFriction;
    float                   m_contactDamping;
    float                   m_contactStiffness;
	float					m_restitution;
	float					m_hitFraction; 
	float					m_ccdSweptSphereRadius;
	float					m_ccdMotionThreshold;

	int						m_hasAnisotropicFriction;
	int						m_collisionFlags;
	int						m_islandTag1;
	int						m_companionId;
	int						m_activationState1;
	int						m_internalType;
	int						m_checkCollideWith;
	char					m_padding[4];
};



SIMD_FORCE_INLINE	int	btCollisionObject::calculateSerializeBufferSize() const
{
	return sizeof(btCollisionObjectData);
}



#endif //BT_COLLISION_OBJECT_H