added basic collision filtering, in broadphase. more advanced collision filtering should happen in CollisionDispatch::NeedsCollision

fixed CcdPhysicsDemo: don't pick static objects, it create a point 2 point constraint, which assert in jacobian generation

Bullet/BroadphaseCollision/AxisSweep3.cpp

@@ -21,11 +21,12 @@
 
 #include <assert.h>
 
-BroadphaseProxy*	AxisSweep3::CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr )
+BroadphaseProxy*	AxisSweep3::CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
 {
-		unsigned short handleId = AddHandle(min,max, userPtr);
+		unsigned short handleId = AddHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask);
 		
 		Handle* handle = GetHandle(handleId);
+				
 		return handle;
 }
 
@@ -156,7 +157,7 @@ void AxisSweep3::FreeHandle(unsigned short handle)
 
 
 
-unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner)
+unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
 {
 	// quantize the bounds
 	unsigned short min[3], max[3];
@@ -169,10 +170,11 @@ unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3&
 
 	Handle* pHandle = GetHandle(handle);
 	
-
 	pHandle->m_handleId = handle;
 	//pHandle->m_pOverlaps = 0;
 	pHandle->m_clientObject = pOwner;
+	pHandle->m_collisionFilterGroup = collisionFilterGroup;
+	pHandle->m_collisionFilterMask = collisionFilterMask;
 
 	// compute current limit of edge arrays
 	int limit = m_numHandles * 2;

Bullet/BroadphaseCollision/AxisSweep3.h

@@ -99,14 +99,14 @@ public:
 		//this is replace by sweep and prune
 	}
 	
-	unsigned short AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner);
+	unsigned short AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
 	void RemoveHandle(unsigned short handle);
 	void UpdateHandle(unsigned short handle, const SimdPoint3& aabbMin,const SimdPoint3& aabbMax);
 	inline Handle* GetHandle(unsigned short index) const {return m_pHandles + index;}
 
 
 	//Broadphase Interface
-	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr );
+	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
 	virtual void	DestroyProxy(BroadphaseProxy* proxy);
 	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
 

Bullet/BroadphaseCollision/BroadphaseInterface.h

@@ -29,7 +29,7 @@ class BroadphaseInterface
 public:
 	virtual ~BroadphaseInterface() {}
 
-	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr ) =0;
+	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) =0;
 	virtual void	DestroyProxy(BroadphaseProxy* proxy)=0;
 	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)=0;
 	virtual void	CleanProxyFromPairs(BroadphaseProxy* proxy)=0;

Bullet/BroadphaseCollision/BroadphaseProxy.h

@@ -54,12 +54,16 @@ struct BroadphaseProxy
 	
 	//Usually the client CollisionObject or Rigidbody class
 	void*	m_clientObject;
+	unsigned int m_collisionFilterGroup;
+	unsigned int m_collisionFilterMask;
 
-
+	//used for memory pools
 	BroadphaseProxy() :m_clientObject(0){}
-	BroadphaseProxy(int shapeType,void* userPtr)
+
-		:m_clientObject(userPtr)
+	BroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
-		//m_clientObjectType(shapeType)
+		:m_clientObject(userPtr),
+		m_collisionFilterGroup(collisionFilterGroup),
+		m_collisionFilterMask(collisionFilterMask)
 	{
 	}
 	

Bullet/BroadphaseCollision/SimpleBroadphase.cpp

@@ -74,7 +74,7 @@ SimpleBroadphase::~SimpleBroadphase()
 }
 
 
-BroadphaseProxy*	SimpleBroadphase::CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr)
+BroadphaseProxy*	SimpleBroadphase::CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
 {
 	if (m_numProxies >= m_maxProxies)
 	{
@@ -84,7 +84,7 @@ BroadphaseProxy*	SimpleBroadphase::CreateProxy(  const SimdVector3& min,  const
 	assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);
 
 	int freeIndex= m_freeProxies[m_firstFreeProxy];
-	SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr);
+	SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
 	m_firstFreeProxy++;
 
 	SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
@@ -181,6 +181,10 @@ void	SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProx
 	//don't add overlap with own
 	assert(proxy0 != proxy1);
 
+	if (!NeedsCollision(proxy0,proxy1))
+		return;
+
+
 	BroadphasePair pair(*proxy0,*proxy1);
 	m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;
 

Bullet/BroadphaseCollision/SimpleBroadphase.h

@@ -30,8 +30,8 @@ struct SimpleBroadphaseProxy : public BroadphaseProxy
 	
 	SimpleBroadphaseProxy() {};
 
-	SimpleBroadphaseProxy(const SimdPoint3& minpt,const SimdPoint3& maxpt,int shapeType,void* userPtr)
+	SimpleBroadphaseProxy(const SimdPoint3& minpt,const SimdPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
-	:BroadphaseProxy(shapeType,userPtr),
+	:BroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
 	m_min(minpt),m_max(maxpt)		
 	{
 	}
@@ -82,13 +82,25 @@ public:
 	SimpleBroadphase(int maxProxies=4096,int maxOverlap=8192);
 	virtual ~SimpleBroadphase();
 
-	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr);
+
+	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+
 
 	virtual void	DestroyProxy(BroadphaseProxy* proxy);
 	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
 	virtual void	CleanProxyFromPairs(BroadphaseProxy* proxy);
 	virtual void	DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo);
 
+	
+	inline bool NeedsCollision(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) const
+	{
+		bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
+		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+		
+		return collides;
+	}
+
+
 };
 
 

Bullet/CollisionDispatch/CollisionWorld.cpp

@@ -112,7 +112,7 @@ void	CollisionWorld::StoreIslandActivationState()
 
 
 
-void	CollisionWorld::AddCollisionObject(CollisionObject* collisionObject)
+void	CollisionWorld::AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
 {
 		m_collisionObjects.push_back(collisionObject);
 
@@ -128,7 +128,9 @@ void	CollisionWorld::AddCollisionObject(CollisionObject* collisionObject)
 			minAabb,
 			maxAabb,
 			type,
-			collisionObject
+			collisionObject,
+			collisionFilterGroup,
+			collisionFilterMask
 			);
 		
 

Bullet/CollisionDispatch/CollisionWorld.h

@@ -201,7 +201,7 @@ public:
 	void	RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback);
 
 
-	void	AddCollisionObject(CollisionObject* collisionObject);
+	void	AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
 
 	CollisionObjectArray& GetCollisionObjectArray()
 	{

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -155,11 +155,7 @@ int main(int argc,char** argv)
 	materialProps.m_friction = 10.5f;
 	materialProps.m_restitution = 0.0f;
 
-	CcdConstructionInfo ccdObjectCi;
+	
-	ccdObjectCi.m_friction = 0.5f;
-
-	ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
-	ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
 
 	SimdTransform tr;
 	tr.setIdentity();
@@ -180,6 +176,13 @@ int main(int argc,char** argv)
 
 	for (i=0;i<numObjects;i++)
 	{
+
+		CcdConstructionInfo ccdObjectCi;
+		ccdObjectCi.m_friction = 0.5f;
+
+		ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
+		ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
+
 		shapeProps.m_shape = shapePtr[shapeIndex[i]];
 		shapeProps.m_shape->SetMargin(0.05f);
 
@@ -242,12 +245,16 @@ int main(int argc,char** argv)
 			shapeProps.m_mass = 0.f;
 			ccdObjectCi.m_mass = shapeProps.m_mass;
 			ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
+			
+			ccdObjectCi.m_collisionFilterGroup = CollisionFilterGroups::Static;
+			ccdObjectCi.m_collisionFilterMask = CollisionFilterGroups::All ^ CollisionFilterGroups::Static;
 		}
 		else
 		{
 			shapeProps.m_mass = 1.f;
 			ccdObjectCi.m_mass = shapeProps.m_mass;
 			ccdObjectCi.m_collisionFlags = 0;
+
 		}
 
 
@@ -817,7 +824,7 @@ void clientMouseFunc(int button, int state, int x, int y)
 						CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
 						RigidBody* body = physCtrl->GetRigidBody();
 
-						if (body)
+						if (body && !body->IsStatic())
 						{
 							pickedBody = body;
 							pickedBody->SetActivationState(DISABLE_DEACTIVATION);

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -20,6 +20,8 @@ subject to the following restrictions:
 #include "CollisionShapes/BoxShape.h"
 #include "CollisionShapes/Simplex1to4Shape.h"
 #include "Dynamics/RigidBody.h"
+#include "BroadphaseCollision/AxisSweep3.h"
+
 #include "ConstraintSolver/SimpleConstraintSolver.h"
 #include "ConstraintSolver/OdeConstraintSolver.h"
 #include "CollisionDispatch/CollisionDispatcher.h"
@@ -84,6 +86,19 @@ int	gIndices[NUM_TRIANGLES*3];
 int main(int argc,char** argv)
 {
 
+	printf("BroadphaseProxy: %i\n",sizeof(BroadphaseProxy));
+	printf("AxisSweep3::Handle : %i\n",sizeof(AxisSweep3::Handle));
+
+	printf("SimpleBroadphaseProxy : %i\n",sizeof(SimpleBroadphaseProxy));
+
+	printf("RigidBody : %i\n",sizeof(RigidBody));
+
+	printf("CcdPhysicsController: %i\n",sizeof(CcdPhysicsController));
+	
+	printf("ManifoldPoint: %i\n",sizeof(ManifoldPoint));
+	
+	
+
 	setCameraDistance(30.f);
 
 #define TRISIZE 10.f

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h

@@ -39,6 +39,18 @@ extern bool gDisableDeactivation;
 class CcdPhysicsEnvironment;
 
 
+///CollisionFilterGroups provides some optional usage of basic collision filtering
+///this is done during broadphase, so very early in the pipeline
+///more advanced collision filtering should be done in CollisionDispatcher::NeedsCollision
+enum CollisionFilterGroups
+{
+	Default	= 1,
+	Static = 2,
+	Kinematic = 4,
+	Debris = 8,
+	All = Default | Static | Kinematic | Debris,
+};
+
 struct CcdConstructionInfo
 {
 	CcdConstructionInfo()
@@ -50,6 +62,8 @@ struct CcdConstructionInfo
 		m_linearDamping(0.1f),
 		m_angularDamping(0.1f),
 		m_collisionFlags(0),
+		m_collisionFilterGroup(CollisionFilterGroups::Default),
+		m_collisionFilterMask(CollisionFilterGroups::All),
 		m_MotionState(0),
 		m_physicsEnv(0),
 		m_inertiaFactor(1.f)
@@ -66,6 +80,15 @@ struct CcdConstructionInfo
 	SimdScalar	m_angularDamping;
 	int			m_collisionFlags;
 
+	///optional use of collision group/mask:
+	///only collision with object goups that match the collision mask.
+	///this is very basic early out. advanced collision filtering should be
+	///done in the CollisionDispatcher::NeedsCollision and NeedsResponse
+	///both values default to 1
+	short int	m_collisionFilterGroup;
+	short int	m_collisionFilterMask;
+
+
 	CollisionShape*			m_collisionShape;
 	class	PHY_IMotionState*			m_MotionState;
 
@@ -158,6 +181,17 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		virtual	void				setNewClientInfo(void* clientinfo);
 		virtual PHY_IPhysicsController*	GetReplica();
 		
+		///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
+		short int	GetCollisionFilterGroup() const
+		{
+			return m_cci.m_collisionFilterGroup;
+		}
+		///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
+		short int	GetCollisionFilterMask() const
+		{
+			return m_cci.m_collisionFilterMask;
+		}
+
 
 		virtual void	calcXform() {} ;
 		virtual void SetMargin(float margin) {};

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp

@@ -374,7 +374,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 	body->setGravity( m_gravity );
 	m_controllers.push_back(ctrl);
 
-	m_collisionWorld->AddCollisionObject(body);
+	m_collisionWorld->AddCollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask());
 
 	assert(body->m_broadphaseHandle);