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
19 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20
21 #include "btMultiBody.h"
22 #include "LinearMath/btSerializer.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
32 class btMultiBodyLinkCollider : public btCollisionObject
33 {
34 //protected:
35 public:
36 btMultiBody* m_multiBody;
37 int m_link;
38
~btMultiBodyLinkCollider()39 virtual ~btMultiBodyLinkCollider()
40 {
41
42 }
btMultiBodyLinkCollider(btMultiBody * multiBody,int link)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 {
52 m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
53 }
54 // else
55 //{
56 // m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
57 //}
58
59 m_internalType = CO_FEATHERSTONE_LINK;
60 }
upcast(btCollisionObject * colObj)61 static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj)
62 {
63 if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
64 return (btMultiBodyLinkCollider*)colObj;
65 return 0;
66 }
upcast(const btCollisionObject * colObj)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
checkCollideWithOverride(const btCollisionObject * co)74 virtual bool checkCollideWithOverride(const btCollisionObject* co) const
75 {
76 const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co);
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);
88 if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
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 }
102 else if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
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);
112 if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
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 }
124 else if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
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
135 ///fills the dataBuffer and returns the struct name (and 0 on failure)
136 virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
137 };
138
139 // clang-format off
140
141 struct btMultiBodyLinkColliderFloatData
142 {
143 btCollisionObjectFloatData m_colObjData;
144 btMultiBodyFloatData *m_multiBody;
145 int m_link;
146 char m_padding[4];
147 };
148
149 struct btMultiBodyLinkColliderDoubleData
150 {
151 btCollisionObjectDoubleData m_colObjData;
152 btMultiBodyDoubleData *m_multiBody;
153 int m_link;
154 char m_padding[4];
155 };
156
157 // clang-format on
158
calculateSerializeBufferSize()159 SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const
160 {
161 return sizeof(btMultiBodyLinkColliderData);
162 }
163
serialize(void * dataBuffer,class btSerializer * serializer)164 SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
165 {
166 btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer;
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
175 return btMultiBodyLinkColliderDataName;
176 }
177
178 #endif //BT_FEATHERSTONE_LINK_COLLIDER_H
179