This updates our local copy to commit 5ec8339b6fc491e3f09a34a4516e82787f053fcc. We need a recent master commit for some new features that we use in Godot (see #25543 and #28909). To avoid warnings generated by Bullet headers included in our own module, we include those headers with -isystem on GCC and Clang. Fixes #29503.
178 lines
5.4 KiB
C++
178 lines
5.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_FEATHERSTONE_LINK_COLLIDER_H
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#define BT_FEATHERSTONE_LINK_COLLIDER_H
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "btMultiBody.h"
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#include "LinearMath/btSerializer.h"
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
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#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
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#else
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#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
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#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
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#endif
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class btMultiBodyLinkCollider : public btCollisionObject
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{
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//protected:
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public:
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btMultiBody* m_multiBody;
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int m_link;
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virtual ~btMultiBodyLinkCollider()
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{
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}
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btMultiBodyLinkCollider(btMultiBody* multiBody, int link)
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: m_multiBody(multiBody),
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m_link(link)
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{
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m_checkCollideWith = true;
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//we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
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//this means that some constraints might point to bodies that are not in the islands, causing crashes
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//if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
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{
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m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
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}
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// else
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//{
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// m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
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//}
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m_internalType = CO_FEATHERSTONE_LINK;
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}
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static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj)
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{
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if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
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return (btMultiBodyLinkCollider*)colObj;
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return 0;
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}
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static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj)
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{
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if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK)
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return (btMultiBodyLinkCollider*)colObj;
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return 0;
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}
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virtual bool checkCollideWithOverride(const btCollisionObject* co) const
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{
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const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co);
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if (!other)
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return true;
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if (other->m_multiBody != this->m_multiBody)
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return true;
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if (!m_multiBody->hasSelfCollision())
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return false;
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//check if 'link' has collision disabled
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if (m_link >= 0)
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{
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const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
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if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
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{
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int parent_of_this = m_link;
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while (1)
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{
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if (parent_of_this == -1)
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break;
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parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
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if (parent_of_this == other->m_link)
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{
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return false;
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}
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}
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}
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else if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
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{
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if (link.m_parent == other->m_link)
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return false;
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}
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}
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if (other->m_link >= 0)
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{
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const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
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if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
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{
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int parent_of_other = other->m_link;
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while (1)
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{
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if (parent_of_other == -1)
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break;
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parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
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if (parent_of_other == this->m_link)
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return false;
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}
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}
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else if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
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{
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if (otherLink.m_parent == this->m_link)
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return false;
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}
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}
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return true;
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}
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
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};
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// clang-format off
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struct btMultiBodyLinkColliderFloatData
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{
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btCollisionObjectFloatData m_colObjData;
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btMultiBodyFloatData *m_multiBody;
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int m_link;
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char m_padding[4];
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};
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struct btMultiBodyLinkColliderDoubleData
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{
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btCollisionObjectDoubleData m_colObjData;
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btMultiBodyDoubleData *m_multiBody;
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int m_link;
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char m_padding[4];
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};
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// clang-format on
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SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const
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{
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return sizeof(btMultiBodyLinkColliderData);
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}
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SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
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{
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btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer;
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btCollisionObject::serialize(&dataOut->m_colObjData, serializer);
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dataOut->m_link = this->m_link;
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dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody);
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// Fill padding with zeros to appease msan.
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memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
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return btMultiBodyLinkColliderDataName;
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}
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#endif //BT_FEATHERSTONE_LINK_COLLIDER_H
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