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 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;
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_activationState1;
    btScalar            m_deactivationTime;

    btScalar        m_friction;
    btScalar        m_restitution;

    int             m_internalType;

    void*           m_userObjectPointer;

    btScalar        m_hitFraction; 
    
    btScalar        m_ccdSweptSphereRadius;

    btScalar        m_ccdMotionThreshold;
    
    int         m_checkCollideWith;

    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,
        CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
        CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing
    };

    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
    };

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

    void    internalSetTemporaryCollisionShape(btCollisionShape* collisionShape)
    {
        m_collisionShape = collisionShape;
    }

    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);

    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;
    }

    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;
    }
    
    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;
    }
    
    void    setUserPointer(void* userPointer)
    {
        m_userObjectPointer = userPointer;
    }


    inline bool checkCollideWith(btCollisionObject* co)
    {
        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_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_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;
};



SIMD_FORCE_INLINE   int btCollisionObject::calculateSerializeBufferSize() const
{
    return sizeof(btCollisionObjectData);
}



#endif //COLLISION_OBJECT_H