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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 COLLISION_OBJECT_H
#define 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;
#include "LinearMath/btMotionState.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"


typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;


/// 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;
      bool                    m_hasAnisotropicFriction;
      btScalar          m_contactProcessingThreshold; 

      btBroadphaseProxy*            m_broadphaseHandle;
      btCollisionShape*       m_collisionShape;
      
      ///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_activationState1;
      btScalar                m_deactivationTime;

      btScalar          m_friction;
      btScalar          m_restitution;

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

      ///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;

      ///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
      bool              m_checkCollideWith;

      char  m_pad[7];

      virtual bool      checkCollideWithOverride(btCollisionObject* /* co */)
      {
            return true;
      }

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
      };

      enum  CollisionObjectTypes
      {
            CO_COLLISION_OBJECT =1,
            CO_RIGID_BODY,
            ///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,
            CO_SOFT_BODY,
            CO_HF_FLUID
      };

      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)
      {
            m_anisotropicFriction = anisotropicFriction;
            m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
      }
      bool  hasAnisotropicFriction() const
      {
            return m_hasAnisotropicFriction;
      }

      ///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_collisionShape = collisionShape;
            m_rootCollisionShape = collisionShape;
      }

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

      SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
      {
            return m_collisionShape;
      }

      SIMD_FORCE_INLINE const btCollisionShape* getRootCollisionShape() const
      {
            return m_rootCollisionShape;
      }

      SIMD_FORCE_INLINE btCollisionShape* getRootCollisionShape()
      {
            return m_rootCollisionShape;
      }

      ///Avoid using this internal API call
      ///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.
      void  internalSetTemporaryCollisionShape(btCollisionShape* collisionShape)
      {
            m_collisionShape = collisionShape;
      }

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

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

      void forceActivationState(int newState);

      void  activate(bool forceActivation = false);

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

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

      ///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_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_interpolationWorldTransform = trans;
      }

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

      void  setInterpolationAngularVelocity(const btVector3& angvel)
      {
            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 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*ccdMotionThreshold;
      }

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


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

            return true;
      }
};

#endif //COLLISION_OBJECT_H

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