btCollisionObject.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 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
 
 
ATTRIBUTE_ALIGNED16(class)      btCollisionObject
{
 
protected:
 
        btTransform     m_worldTransform;
 
        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;
        void*                                   m_extensionPointer;
        
        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;
        
        
 
        int                             m_internalType;
 
 
        void*                   m_userObjectPointer;
 
        int                             m_userIndex2;
        
    int m_userIndex;
 
        btScalar                m_hitFraction; 
        
        btScalar                m_ccdSweptSphereRadius;
 
        btScalar                m_ccdMotionThreshold;
        
        int                     m_checkCollideWith;
 
        btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck;
 
        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=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
        {
                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;
        }
 
        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;
        }
 
 
        
 
        void*           internalGetExtensionPointer() const
        {
                return m_extensionPointer;
        }
        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;
        }
    
        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;
        }
        
        btScalar                        getCcdSweptSphereRadius() const
        {
                return m_ccdSweptSphereRadius;
        }
 
        void    setCcdSweptSphereRadius(btScalar radius)
        {
                m_ccdSweptSphereRadius = radius;
        }
 
        btScalar        getCcdMotionThreshold() const
        {
                return m_ccdMotionThreshold;
        }
 
        btScalar        getCcdSquareMotionThreshold() const
        {
                return m_ccdMotionThreshold*m_ccdMotionThreshold;
        }
 
 
 
        void    setCcdMotionThreshold(btScalar ccdMotionThreshold)
        {
                m_ccdMotionThreshold = ccdMotionThreshold;
        }
 
        void*   getUserPointer() const
        {
                return m_userObjectPointer;
        }
 
        int     getUserIndex() const
        {
                return m_userIndex;
        }
        
        int     getUserIndex2() const
        {
                return m_userIndex2;
        }
        
        void    setUserPointer(void* userPointer)
        {
                m_userObjectPointer = userPointer;
        }
 
        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;
 
        virtual const char*     serialize(void* dataBuffer, class btSerializer* serializer) const;
 
        virtual void serializeSingleObject(class btSerializer* serializer) const;
 
};
 
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];
};
 
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