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;
 
    int m_userIndex3;
 
    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;
    }
 
        int getNumObjectsWithoutCollision() const
    {
        return m_objectsWithoutCollisionCheck.size();
    }
 
    const btCollisionObject* getObjectWithoutCollision(int index)
    {
        return m_objectsWithoutCollisionCheck[index];
    }
 
    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;
    }
 
    int getUserIndex3() const
    {
        return m_userIndex3;
    }
 
    void setUserPointer(void* userPointer)
    {
        m_userObjectPointer = userPointer;
    }
 
    void setUserIndex(int index)
    {
        m_userIndex = index;
    }
 
    void setUserIndex2(int index)
    {
        m_userIndex2 = index;
    }
 
    void setUserIndex3(int index)
    {
        m_userIndex3 = 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;
};
 
// clang-format off
 
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;
    int                     m_collisionFilterGroup;
    int                     m_collisionFilterMask;
    int                     m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
};
 
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;
    int                     m_collisionFilterGroup;
    int                     m_collisionFilterMask;
    int                     m_uniqueId;
};
// clang-format on
 
SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const
{
    return sizeof(btCollisionObjectData);
}
 
#endif  //BT_COLLISION_OBJECT_H