btCollisionWorld.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
 
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_WORLD_H
#define BT_COLLISION_WORLD_H
 
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;
 
    btBroadphaseInterface* m_broadphasePairCache;
 
    btIDebugDraw* m_debugDrawer;
 
    bool m_forceUpdateAllAabbs;
 
    void serializeCollisionObjects(btSerializer* serializer);
 
    void serializeContactManifolds(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 computeOverlappingPairs();
 
    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(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;
    };
 
    struct RayResultCallback
    {
        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
        {
            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 AllHitsRayResultCallback : public RayResultCallback
    {
        AllHitsRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
            : m_rayFromWorld(rayFromWorld),
              m_rayToWorld(rayToWorld)
        {
        }
 
        btAlignedObjectArray<const btCollisionObject*> m_collisionObjects;
 
        btVector3 m_rayFromWorld;  //used to calculate hitPointWorld from hitFraction
        btVector3 m_rayToWorld;
 
        btAlignedObjectArray<btVector3> m_hitNormalWorld;
        btAlignedObjectArray<btVector3> m_hitPointWorld;
        btAlignedObjectArray<btScalar> m_hitFractions;
 
        virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace)
        {
            m_collisionObject = rayResult.m_collisionObject;
            m_collisionObjects.push_back(rayResult.m_collisionObject);
            btVector3 hitNormalWorld;
            if (normalInWorldSpace)
            {
                hitNormalWorld = rayResult.m_hitNormalLocal;
            }
            else
            {
                hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
            }
            m_hitNormalWorld.push_back(hitNormalWorld);
            btVector3 hitPointWorld;
            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)
        {
        }
 
        const btCollisionObject* m_hitCollisionObject;
        LocalShapeInfo* m_localShapeInfo;
        btVector3 m_hitNormalLocal;
        btVector3 m_hitPointLocal;
        btScalar m_hitFraction;
    };
 
    struct ConvexResultCallback
    {
        btScalar m_closestHitFraction;
        int m_collisionFilterGroup;
        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;
        const 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
    {
        int m_collisionFilterGroup;
        int m_collisionFilterMask;
        btScalar m_closestDistanceThreshold;
 
        ContactResultCallback()
            : 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;
            collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
            return collides;
        }
 
        virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, 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 rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans,
                                      const btCollisionObjectWrapper* collisionObjectWrap,
                                      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);
 
    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 refreshBroadphaseProxy(btCollisionObject* collisionObject);
 
    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  //BT_COLLISION_WORLD_H