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btBroadphaseProxy.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 BROADPHASE_PROXY_H
#define BROADPHASE_PROXY_H

#include "../../LinearMath/btScalar.h" //for SIMD_FORCE_INLINE


/// btDispatcher uses these types
/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
/// to facilitate type checking
enum BroadphaseNativeTypes
{
// polyhedral convex shapes
      BOX_SHAPE_PROXYTYPE,
      TRIANGLE_SHAPE_PROXYTYPE,
      TETRAHEDRAL_SHAPE_PROXYTYPE,
      CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
      CONVEX_HULL_SHAPE_PROXYTYPE,
//implicit convex shapes
IMPLICIT_CONVEX_SHAPES_START_HERE,
      SPHERE_SHAPE_PROXYTYPE,
      MULTI_SPHERE_SHAPE_PROXYTYPE,
      CAPSULE_SHAPE_PROXYTYPE,
      CONE_SHAPE_PROXYTYPE,
      CONVEX_SHAPE_PROXYTYPE,
      CYLINDER_SHAPE_PROXYTYPE,
      MINKOWSKI_SUM_SHAPE_PROXYTYPE,
      MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
      //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
      TRIANGLE_MESH_SHAPE_PROXYTYPE,
      ///used for demo integration FAST/Swift collision library and Bullet
      FAST_CONCAVE_MESH_PROXYTYPE,
      //terrain
      TERRAIN_SHAPE_PROXYTYPE,
///Used for GIMPACT Trimesh integration
      GIMPACT_SHAPE_PROXYTYPE,
      
      EMPTY_SHAPE_PROXYTYPE,
      STATIC_PLANE_PROXYTYPE,
CONCAVE_SHAPES_END_HERE,

      COMPOUND_SHAPE_PROXYTYPE,

      MAX_BROADPHASE_COLLISION_TYPES
};


///btBroadphaseProxy
00065 struct btBroadphaseProxy
{
      
      ///optional filtering to cull potential collisions
00069       enum CollisionFilterGroups
      {
              DefaultFilter = 1,
              StaticFilter = 2,
              KinematicFilter = 4,
              DebrisFilter = 8,
                  SensorTrigger = 16,
              AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
      };

      //Usually the client btCollisionObject or Rigidbody class
      void* m_clientObject;
      short int m_collisionFilterGroup;
      short int m_collisionFilterMask;

      //used for memory pools
      btBroadphaseProxy() :m_clientObject(0){}

      btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
            :m_clientObject(userPtr),
            m_collisionFilterGroup(collisionFilterGroup),
            m_collisionFilterMask(collisionFilterMask)
      {
      }

      static inline bool isPolyhedral(int proxyType)
      {
            return (proxyType  < IMPLICIT_CONVEX_SHAPES_START_HERE);
      }

      static inline bool      isConvex(int proxyType)
      {
            return (proxyType < CONCAVE_SHAPES_START_HERE);
      }

      static inline bool      isConcave(int proxyType)
      {
            return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
                  (proxyType < CONCAVE_SHAPES_END_HERE));
      }
      static inline bool      isCompound(int proxyType)
      {
            return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
      }
      static inline bool isInfinite(int proxyType)
      {
            return (proxyType == STATIC_PLANE_PROXYTYPE);
      }
      
}
;

class btCollisionAlgorithm;

struct btBroadphaseProxy;



/// contains a pair of aabb-overlapping objects
00128 struct btBroadphasePair
{
      btBroadphasePair ()
            :
      m_pProxy0(0),
            m_pProxy1(0),
            m_algorithm(0),
            m_userInfo(0)
      {
      }

      btBroadphasePair(const btBroadphasePair& other)
            :           m_pProxy0(other.m_pProxy0),
                        m_pProxy1(other.m_pProxy1),
                        m_algorithm(other.m_algorithm),
                        m_userInfo(other.m_userInfo)
      {
      }
      btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
      {

            //keep them sorted, so the std::set operations work
            if (&proxy0 < &proxy1)
        { 
            m_pProxy0 = &proxy0; 
            m_pProxy1 = &proxy1; 
        }
        else 
        { 
                  m_pProxy0 = &proxy1; 
            m_pProxy1 = &proxy0; 
        }

            m_algorithm = 0;
            m_userInfo = 0;

      }
      
      btBroadphaseProxy* m_pProxy0;
      btBroadphaseProxy* m_pProxy1;
      
      mutable btCollisionAlgorithm* m_algorithm;
      mutable void* m_userInfo;

};

/*
//comparison for set operation, see Solid DT_Encounter
SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) 
{ 
    return a.m_pProxy0 < b.m_pProxy0 || 
        (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); 
}
*/


class btBroadphasePairSortPredicate
{
      public:

            bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
            {
                   return a.m_pProxy0 > b.m_pProxy0 || 
                        (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) ||
                        (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
            }
};


SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) 
{
       return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
}


#endif //BROADPHASE_PROXY_H


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