reactphysics3d/src/collision/CollisionDetection.h

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2016 Daniel Chappuis                                       *
*********************************************************************************
*                                                                               *
* 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.    *
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********************************************************************************/

#ifndef REACTPHYSICS3D_COLLISION_DETECTION_H
#define REACTPHYSICS3D_COLLISION_DETECTION_H

// Libraries
#include "body/CollisionBody.h"
#include "broadphase/BroadPhaseAlgorithm.h"
#include "engine/OverlappingPair.h"
#include "engine/EventListener.h"
#include "narrowphase/DefaultCollisionDispatch.h"
#include "memory/PoolAllocator.h"
#include "memory/SingleFrameAllocator.h"
#include "constraint/ContactPoint.h"
#include <vector>
#include <set>
#include <utility>
#include <map>

/// ReactPhysics3D namespace
namespace reactphysics3d {

// Declarations
class BroadPhaseAlgorithm;
class CollisionWorld;
class CollisionCallback;
class OverlapCallback;

// Class CollisionDetection
/**
 * This class computes the collision detection algorithms. We first
 * perform a broad-phase algorithm to know which pairs of bodies can
 * collide and then we run a narrow-phase algorithm to compute the
 * collision contacts between bodies.
 */
class CollisionDetection {

    private :

        // -------------------- Attributes -------------------- //

        /// Collision Detection Dispatch configuration
        CollisionDispatch* mCollisionDispatch;

        /// Default collision dispatch configuration
        DefaultCollisionDispatch mDefaultCollisionDispatch;

        /// Collision detection matrix (algorithms to use)
        NarrowPhaseAlgorithm* mCollisionMatrix[NB_COLLISION_SHAPE_TYPES][NB_COLLISION_SHAPE_TYPES];

        /// Reference to the memory allocator
        PoolAllocator& mMemoryAllocator;

        /// Reference to the single frame memory allocator
        SingleFrameAllocator& mSingleFrameAllocator;

        /// Pointer to the physics world
        CollisionWorld* mWorld;

        /// Pointer to the first narrow-phase info of the linked list
        NarrowPhaseInfo* mNarrowPhaseInfoList;

        /// Broad-phase overlapping pairs
        std::map<overlappingpairid, OverlappingPair*> mOverlappingPairs;

        /// Overlapping pairs in contact (during the current Narrow-phase collision detection)
        std::map<overlappingpairid, OverlappingPair*> mContactOverlappingPairs;

        /// Broad-phase algorithm
        BroadPhaseAlgorithm mBroadPhaseAlgorithm;

        /// Narrow-phase GJK algorithm
        // TODO : Delete this
        GJKAlgorithm mNarrowPhaseGJKAlgorithm;

        // TODO : Maybe delete this set (what is the purpose ?)
        /// Set of pair of bodies that cannot collide between each other
        std::set<bodyindexpair> mNoCollisionPairs;

        /// True if some collision shapes have been added previously
        bool mIsCollisionShapesAdded;

        // -------------------- Methods -------------------- //

        /// Compute the broad-phase collision detection
        void computeBroadPhase();

        /// Compute the middle-phase collision detection
        void computeMiddlePhase();

        /// Compute the narrow-phase collision detection
        void computeNarrowPhase();

        /// Add a contact manifold to the linked list of contact manifolds of the two bodies
        /// involed in the corresponding contact.
        void addContactManifoldToBody(OverlappingPair* pair);

        /// Delete all the contact points in the currently overlapping pairs
        void clearContactPoints();

        /// Fill-in the collision detection matrix
        void fillInCollisionMatrix();

        /// Return the corresponding narrow-phase algorithm
        NarrowPhaseAlgorithm* selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type,
                                                         const CollisionShapeType& shape2Type) const;

        /// Add all the contact manifold of colliding pairs to their bodies
        void addAllContactManifoldsToBodies();

        /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies
        void computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, Allocator& allocator,
                                               NarrowPhaseInfo** firstNarrowPhaseInfo);

        /// Compute the middle-phase collision detection between two proxy shapes
        NarrowPhaseInfo* computeMiddlePhaseForProxyShapes(ProxyShape* shape1, ProxyShape* shape2);
   
    public :

        // -------------------- Methods -------------------- //

        /// Constructor
        CollisionDetection(CollisionWorld* world, PoolAllocator& memoryAllocator, SingleFrameAllocator& singleFrameAllocator);

        /// Destructor
        ~CollisionDetection() = default;

        /// Deleted copy-constructor
        CollisionDetection(const CollisionDetection& collisionDetection) = delete;

        /// Deleted assignment operator
        CollisionDetection& operator=(const CollisionDetection& collisionDetection) = delete;

        /// Set the collision dispatch configuration
        void setCollisionDispatch(CollisionDispatch* collisionDispatch);

        /// Add a proxy collision shape to the collision detection
        void addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb);

        /// Remove a proxy collision shape from the collision detection
        void removeProxyCollisionShape(ProxyShape* proxyShape);

        /// Update a proxy collision shape (that has moved for instance)
        void updateProxyCollisionShape(ProxyShape* shape, const AABB& aabb,
                                       const Vector3& displacement = Vector3(0, 0, 0), bool forceReinsert = false);

        /// Add a pair of bodies that cannot collide with each other
        void addNoCollisionPair(CollisionBody* body1, CollisionBody* body2);

        /// Remove a pair of bodies that cannot collide with each other
        void removeNoCollisionPair(CollisionBody* body1, CollisionBody* body2);

        /// Ask for a collision shape to be tested again during broad-phase.
        void askForBroadPhaseCollisionCheck(ProxyShape* shape);

        /// Compute the collision detection
        void computeCollisionDetection();

        /// Ray casting method
        void raycast(RaycastCallback* raycastCallback, const Ray& ray,
                     unsigned short raycastWithCategoryMaskBits) const;

        /// Report all the bodies that overlap with the aabb in parameter
        void testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback, unsigned short categoryMaskBits = 0xFFFF);

        /// Return true if two bodies overlap
        bool testOverlap(CollisionBody* body1, CollisionBody* body2);

        /// Report all the bodies that overlap with the body in parameter
        void testOverlap(CollisionBody* body, OverlapCallback* overlapCallback, unsigned short categoryMaskBits = 0xFFFF);

        /// Test and report collisions between two bodies
        void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback);

        /// Test and report collisions between a body and all the others bodies of the world
        void testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits = 0xFFFF);

        /// Test and report collisions between all shapes of the world
        void testCollision(CollisionCallback* callback);

        /// Allow the broadphase to notify the collision detection about an overlapping pair.
        void broadPhaseNotifyOverlappingPair(ProxyShape* shape1, ProxyShape* shape2);

        /// Return a pointer to the world
        CollisionWorld* getWorld();

        /// Return the world event listener
        EventListener* getWorldEventListener();

        /// Return a reference to the world memory allocator
        PoolAllocator& getWorldMemoryAllocator();

        // -------------------- Friendship -------------------- //

        friend class DynamicsWorld;
        friend class ConvexMeshShape;
};

// Set the collision dispatch configuration
inline void CollisionDetection::setCollisionDispatch(CollisionDispatch* collisionDispatch) {
    mCollisionDispatch = collisionDispatch;

    // Fill-in the collision matrix with the new algorithms to use
    fillInCollisionMatrix();
}

// Add a body to the collision detection
inline void CollisionDetection::addProxyCollisionShape(ProxyShape* proxyShape,
                                                       const AABB& aabb) {
    
    // Add the body to the broad-phase
    mBroadPhaseAlgorithm.addProxyCollisionShape(proxyShape, aabb);

    mIsCollisionShapesAdded = true;
}  

// Add a pair of bodies that cannot collide with each other
inline void CollisionDetection::addNoCollisionPair(CollisionBody* body1,
                                                   CollisionBody* body2) {
    mNoCollisionPairs.insert(OverlappingPair::computeBodiesIndexPair(body1, body2));
}

// Remove a pair of bodies that cannot collide with each other
inline void CollisionDetection::removeNoCollisionPair(CollisionBody* body1,
                                                      CollisionBody* body2) {
    mNoCollisionPairs.erase(OverlappingPair::computeBodiesIndexPair(body1, body2));
}

// Ask for a collision shape to be tested again during broad-phase.
/// We simply put the shape in the list of collision shape that have moved in the
/// previous frame so that it is tested for collision again in the broad-phase.
inline void CollisionDetection::askForBroadPhaseCollisionCheck(ProxyShape* shape) {
    mBroadPhaseAlgorithm.addMovedCollisionShape(shape->mBroadPhaseID);
}

// Update a proxy collision shape (that has moved for instance)
inline void CollisionDetection::updateProxyCollisionShape(ProxyShape* shape, const AABB& aabb,
                                                          const Vector3& displacement, bool forceReinsert) {
    mBroadPhaseAlgorithm.updateProxyCollisionShape(shape, aabb, displacement);
}

// Return the corresponding narrow-phase algorithm
inline NarrowPhaseAlgorithm* CollisionDetection::selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type,
                                                                            const CollisionShapeType& shape2Type) const {

    uint shape1Index = static_cast<unsigned int>(shape1Type);
    uint shape2Index = static_cast<unsigned int>(shape2Type);

    // Swap the shape types if necessary
    if (shape1Index > shape2Index) {
        const uint tempIndex = shape1Index;
        shape1Index = shape2Index;
        shape2Index = tempIndex;
    }

    assert(shape1Index <= shape2Index);

    return mCollisionMatrix[shape1Index][shape2Index];
}

// Ray casting method
inline void CollisionDetection::raycast(RaycastCallback* raycastCallback,
                                        const Ray& ray,
                                        unsigned short raycastWithCategoryMaskBits) const {

    PROFILE("CollisionDetection::raycast()");

    RaycastTest rayCastTest(raycastCallback);

    // Ask the broad-phase algorithm to call the testRaycastAgainstShape()
    // callback method for each proxy shape hit by the ray in the broad-phase
    mBroadPhaseAlgorithm.raycast(ray, rayCastTest, raycastWithCategoryMaskBits);
}

// Return a pointer to the world
inline CollisionWorld* CollisionDetection::getWorld() {
    return mWorld;
}

}

#endif