Blender  V3.3
btMultiBodyLinkCollider.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_FEATHERSTONE_LINK_COLLIDER_H
17 #define BT_FEATHERSTONE_LINK_COLLIDER_H
18 
20 
21 #include "btMultiBody.h"
23 
24 #ifdef BT_USE_DOUBLE_PRECISION
25 #define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
26 #define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
27 #else
28 #define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
29 #define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
30 #endif
31 
33 {
34  //protected:
35 public:
37  int m_link;
38 
40  {
41 
42  }
43  btMultiBodyLinkCollider(btMultiBody* multiBody, int link)
44  : m_multiBody(multiBody),
45  m_link(link)
46  {
47  m_checkCollideWith = true;
48  //we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
49  //this means that some constraints might point to bodies that are not in the islands, causing crashes
50  //if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
51  {
53  }
54  // else
55  //{
56  // m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
57  //}
58 
60  }
62  {
63  if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
64  return (btMultiBodyLinkCollider*)colObj;
65  return 0;
66  }
67  static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj)
68  {
69  if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
70  return (btMultiBodyLinkCollider*)colObj;
71  return 0;
72  }
73 
74  virtual bool checkCollideWithOverride(const btCollisionObject* co) const
75  {
77  if (!other)
78  return true;
79  if (other->m_multiBody != this->m_multiBody)
80  return true;
81  if (!m_multiBody->hasSelfCollision())
82  return false;
83 
84  //check if 'link' has collision disabled
85  if (m_link >= 0)
86  {
87  const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
89  {
90  int parent_of_this = m_link;
91  while (1)
92  {
93  if (parent_of_this == -1)
94  break;
95  parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
96  if (parent_of_this == other->m_link)
97  {
98  return false;
99  }
100  }
101  }
103  {
104  if (link.m_parent == other->m_link)
105  return false;
106  }
107  }
108 
109  if (other->m_link >= 0)
110  {
111  const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
113  {
114  int parent_of_other = other->m_link;
115  while (1)
116  {
117  if (parent_of_other == -1)
118  break;
119  parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
120  if (parent_of_other == this->m_link)
121  return false;
122  }
123  }
125  {
126  if (otherLink.m_parent == this->m_link)
127  return false;
128  }
129  }
130  return true;
131  }
132 
133  virtual int calculateSerializeBufferSize() const;
134 
136  virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
137 };
138 
139 // clang-format off
140 
142 {
144  btMultiBodyFloatData *m_multiBody;
145  int m_link;
146  char m_padding[4];
147 };
148 
150 {
152  btMultiBodyDoubleData *m_multiBody;
153  int m_link;
154  char m_padding[4];
155 };
156 
157 // clang-format on
158 
160 {
161  return sizeof(btMultiBodyLinkColliderData);
162 }
163 
164 SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
165 {
167  btCollisionObject::serialize(&dataOut->m_colObjData, serializer);
168 
169  dataOut->m_link = this->m_link;
170  dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody);
171 
172  // Fill padding with zeros to appease msan.
173  memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
174 
176 }
177 
178 #endif //BT_FEATHERSTONE_LINK_COLLIDER_H
btCollisionObject
@ CF_STATIC_OBJECT
int m_checkCollideWith
If some object should have elaborate collision filtering by sub-classes.
@ CO_FEATHERSTONE_LINK
virtual ~btCollisionObject()
int m_collisionFlags
int m_internalType
#define btMultiBodyLinkColliderData
#define btMultiBodyLinkColliderDataName
#define btMultiBodyData
serialization data, don't change them if you are not familiar with the details of the serialization m...
Definition: btMultiBody.h:40
btMultiBody
Definition: btMultiBody.h:51
virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
Data buffer MUST be 16 byte aligned.
#define SIMD_FORCE_INLINE
Definition: btScalar.h:280
btMultiBodyLinkCollider(btMultiBody *multiBody, int link)
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
static const btMultiBodyLinkCollider * upcast(const btCollisionObject *colObj)
virtual bool checkCollideWithOverride(const btCollisionObject *co) const
static btMultiBodyLinkCollider * upcast(btCollisionObject *colObj)
virtual int calculateSerializeBufferSize() const
virtual void * getUniquePointer(void *oldPtr)=0
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btCollisionObjectDoubleData m_colObjData
btCollisionObjectFloatData m_colObjData