Bullet Collision Detection & Physics Library: btCompoundShape.h Source File

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btCompoundShape.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 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_COMPOUND_SHAPE_H
17 #define BT_COMPOUND_SHAPE_H
18
19 #include "btCollisionShape.h"
20
21 #include "LinearMath/btVector3.h"
22 #include "LinearMath/btTransform.h"
23 #include "LinearMath/btMatrix3x3.h"
24 #include "btCollisionMargin.h"
25 #include "LinearMath/btAlignedObjectArray.h"
26
27 //class btOptimizedBvh;
28 struct btDbvt;
29
30 ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
31 {
32 BT_DECLARE_ALIGNED_ALLOCATOR();
33
34 btTransform m_transform;
35 btCollisionShape* m_childShape;
36 int m_childShapeType;
37 btScalar m_childMargin;
38 struct btDbvtNode* m_node;
39 };
40
41 SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
42 {
43 return ( c1.m_transform == c2.m_transform &&
44 c1.m_childShape == c2.m_childShape &&
45 c1.m_childShapeType == c2.m_childShapeType &&
46 c1.m_childMargin == c2.m_childMargin );
47 }
48
54 ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
55 {
56 btAlignedObjectArray<btCompoundShapeChild> m_children;
57 btVector3 m_localAabbMin;
58 btVector3 m_localAabbMax;
59
60 btDbvt* m_dynamicAabbTree;
61
63 int m_updateRevision;
64
65 btScalar m_collisionMargin;
66
67 protected:
68 btVector3 m_localScaling;
69
70 public:
71 BT_DECLARE_ALIGNED_ALLOCATOR();
72
73 btCompoundShape(bool enableDynamicAabbTree = true);
74
75 virtual ~btCompoundShape();
76
77 void addChildShape(const btTransform& localTransform,btCollisionShape* shape);
78
80 virtual void removeChildShape(btCollisionShape* shape);
81
82 void removeChildShapeByIndex(int childShapeindex);
83
84
85 int getNumChildShapes() const
86 {
87 return int (m_children.size());
88 }
89
90 btCollisionShape* getChildShape(int index)
91 {
92 return m_children[index].m_childShape;
93 }
94 const btCollisionShape* getChildShape(int index) const
95 {
96 return m_children[index].m_childShape;
97 }
98
99 btTransform& getChildTransform(int index)
100 {
101 return m_children[index].m_transform;
102 }
103 const btTransform& getChildTransform(int index) const
104 {
105 return m_children[index].m_transform;
106 }
107
109 void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
110
111
112 btCompoundShapeChild* getChildList()
113 {
114 return &m_children[0];
115 }
116
118 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
119
122 virtual void recalculateLocalAabb();
123
124 virtual void setLocalScaling(const btVector3& scaling);
125
126 virtual const btVector3& getLocalScaling() const
127 {
128 return m_localScaling;
129 }
130
131 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
132
133 virtual void setMargin(btScalar margin)
134 {
135 m_collisionMargin = margin;
136 }
137 virtual btScalar getMargin() const
138 {
139 return m_collisionMargin;
140 }
141 virtual const char* getName()const
142 {
143 return "Compound";
144 }
145
146 const btDbvt* getDynamicAabbTree() const
147 {
148 return m_dynamicAabbTree;
149 }
150
151 btDbvt* getDynamicAabbTree()
152 {
153 return m_dynamicAabbTree;
154 }
155
156 void createAabbTreeFromChildren();
157
163 void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
164
165 int getUpdateRevision() const
166 {
167 return m_updateRevision;
168 }
169
170 virtual int calculateSerializeBufferSize() const;
171
173 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
174
175
176 };
177
179 struct btCompoundShapeChildData
180 {
181 btTransformFloatData m_transform;
182 btCollisionShapeData *m_childShape;
183 int m_childShapeType;
184 float m_childMargin;
185 };
186
188 struct btCompoundShapeData
189 {
190 btCollisionShapeData m_collisionShapeData;
191
192 btCompoundShapeChildData *m_childShapePtr;
193
194 int m_numChildShapes;
195
196 float m_collisionMargin;
197
198 };
199
200
201 SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const
202 {
203 return sizeof(btCompoundShapeData);
204 }
205
206
207
208
209
210
211
212 #endif //BT_COMPOUND_SHAPE_H
btCompoundShape::getMargin
virtual btScalar getMargin() const
Definition: btCompoundShape.h:137
btCompoundShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btCompoundShape.h:58
btCompoundShapeData::m_childShapePtr
btCompoundShapeChildData * m_childShapePtr
Definition: btCompoundShape.h:192
btCompoundShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btCompoundShape.h:126
btCompoundShapeData::m_collisionMargin
float m_collisionMargin
Definition: btCompoundShape.h:196
btCompoundShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCompoundShape.h:201
btCompoundShape::m_dynamicAabbTree
btDbvt * m_dynamicAabbTree
Definition: btCompoundShape.h:60
btAlignedObjectArray< btCompoundShapeChild >
btVector3.h
btCompoundShape::m_children
btAlignedObjectArray< btCompoundShapeChild > m_children
Definition: btCompoundShape.h:56
btCompoundShape::getUpdateRevision
int getUpdateRevision() const
Definition: btCompoundShape.h:165
btCompoundShapeChild::m_childMargin
btScalar m_childMargin
Definition: btCompoundShape.h:37
btDbvt
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
Definition: btDbvt.h:194
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:27
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btTransform.h
btCompoundShape::getChildShape
const btCollisionShape * getChildShape(int index) const
Definition: btCompoundShape.h:94
btCompoundShapeChild::m_childShape
btCollisionShape * m_childShape
Definition: btCompoundShape.h:35
btCompoundShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btCompoundShape.h:133
btMatrix3x3.h
btCompoundShape::getDynamicAabbTree
const btDbvt * getDynamicAabbTree() const
Definition: btCompoundShape.h:146
btCollisionMargin.h
btCompoundShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition: btCompoundShape.h:190
btCompoundShapeChild::m_node
struct btDbvtNode * m_node
Definition: btCompoundShape.h:38
btSerializer
Definition: btSerializer.h:68
btCompoundShape::m_updateRevision
int m_updateRevision
increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be up...
Definition: btCompoundShape.h:63
btCompoundShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btCompoundShape.h:57
btCompoundShape::getDynamicAabbTree
btDbvt * getDynamicAabbTree()
Definition: btCompoundShape.h:151
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:149
btCompoundShape::getChildTransform
const btTransform & getChildTransform(int index) const
Definition: btCompoundShape.h:103
operator==
bool operator==(const btCompoundShapeChild &c1, const btCompoundShapeChild &c2)
Definition: btCompoundShape.h:41
btCompoundShape::getChildTransform
btTransform & getChildTransform(int index)
Definition: btCompoundShape.h:99
btCompoundShape::getName
virtual const char * getName() const
Definition: btCompoundShape.h:141
btCompoundShapeChildData::m_transform
btTransformFloatData m_transform
Definition: btCompoundShape.h:181
btCompoundShape::m_localScaling
btVector3 m_localScaling
Definition: btCompoundShape.h:68
btCompoundShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btCompoundShape.h:65
btCompoundShapeChild::m_childShapeType
int m_childShapeType
Definition: btCompoundShape.h:36
btCollisionShape.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
btCompoundShape::getChildList
btCompoundShapeChild * getChildList()
Definition: btCompoundShape.h:112
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btCompoundShapeChild::m_transform
btTransform m_transform
Definition: btCompoundShape.h:34
btCompoundShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btCompoundShape.h:188
btTransformFloatData
for serialization
Definition: btTransform.h:253
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btCompoundShapeChild
Definition: btCompoundShape.h:30
btAlignedObjectArray.h
btCompoundShapeChildData::m_childMargin
float m_childMargin
Definition: btCompoundShape.h:184
btCompoundShapeChildData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btCompoundShape.h:179
btCompoundShapeData::m_numChildShapes
int m_numChildShapes
Definition: btCompoundShape.h:194
btCompoundShapeChildData::m_childShapeType
int m_childShapeType
Definition: btCompoundShape.h:183
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:54
btCompoundShapeChildData::m_childShape
btCollisionShapeData * m_childShape
Definition: btCompoundShape.h:182
btDbvtNode
Definition: btDbvt.h:177
btCompoundShape::getChildShape
btCollisionShape * getChildShape(int index)
Definition: btCompoundShape.h:90
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btCollisionShape.h:155
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btCompoundShape::getNumChildShapes
int getNumChildShapes() const
Definition: btCompoundShape.h:85