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

Bullet Collision Detection & Physics Library

- Main Page
- Namespaces
- Classes
- Files

- File List
- File Members

btMultiSphereShape.h
Go to the documentation of this file.
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_MULTI_SPHERE_MINKOWSKI_H
17 #define BT_MULTI_SPHERE_MINKOWSKI_H
18
19 #include "btConvexInternalShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21 #include "LinearMath/btAlignedObjectArray.h"
22 #include "LinearMath/btAabbUtil2.h"
23
24
25
28 ATTRIBUTE_ALIGNED16(class) btMultiSphereShape : public btConvexInternalAabbCachingShape
29 {
30
31 btAlignedObjectArray<btVector3> m_localPositionArray;
32 btAlignedObjectArray<btScalar> m_radiArray;
33
34 public:
35 BT_DECLARE_ALIGNED_ALLOCATOR();
36
37 btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
38
40 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
41
43 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
44
45 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
46
47 int getSphereCount() const
48 {
49 return m_localPositionArray.size();
50 }
51
52 const btVector3& getSpherePosition(int index) const
53 {
54 return m_localPositionArray[index];
55 }
56
57 btScalar getSphereRadius(int index) const
58 {
59 return m_radiArray[index];
60 }
61
62
63 virtual const char* getName()const
64 {
65 return "MultiSphere";
66 }
67
68 virtual int calculateSerializeBufferSize() const;
69
71 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
72
73
74 };
75
76
77 struct btPositionAndRadius
78 {
79 btVector3FloatData m_pos;
80 float m_radius;
81 };
82
83 struct btMultiSphereShapeData
84 {
85 btConvexInternalShapeData m_convexInternalShapeData;
86
87 btPositionAndRadius *m_localPositionArrayPtr;
88 int m_localPositionArraySize;
89 char m_padding[4];
90 };
91
92
93
94 SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
95 {
96 return sizeof(btMultiSphereShapeData);
97 }
98
99
100
101 #endif //BT_MULTI_SPHERE_MINKOWSKI_H
btMultiSphereShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btMultiSphereShape.h:94
btAlignedObjectArray< btVector3 >
btMultiSphereShapeData::m_localPositionArraySize
int m_localPositionArraySize
Definition: btMultiSphereShape.h:88
btMultiSphereShape
The btMultiSphereShape represents the convex hull of a collection of spheres.
Definition: btMultiSphereShape.h:28
btMultiSphereShape::getSphereRadius
btScalar getSphereRadius(int index) const
Definition: btMultiSphereShape.h:57
btMultiSphereShape::getName
virtual const char * getName() const
Definition: btMultiSphereShape.h:63
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConvexInternalShape.h:144
btMultiSphereShape::m_radiArray
btAlignedObjectArray< btScalar > m_radiArray
Definition: btMultiSphereShape.h:32
btSerializer
Definition: btSerializer.h:68
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:149
btMultiSphereShape::getSphereCount
int getSphereCount() const
Definition: btMultiSphereShape.h:47
btAabbUtil2.h
btMultiSphereShapeData::m_padding
char m_padding[4]
Definition: btMultiSphereShape.h:89
btMultiSphereShapeData::m_localPositionArrayPtr
btPositionAndRadius * m_localPositionArrayPtr
Definition: btMultiSphereShape.h:87
btPositionAndRadius::m_pos
btVector3FloatData m_pos
Definition: btMultiSphereShape.h:79
btConvexInternalShape.h
btBroadphaseProxy.h
btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
Definition: btConvexInternalShape.h:182
btPositionAndRadius::m_radius
float m_radius
Definition: btMultiSphereShape.h:80
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
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btMultiSphereShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btMultiSphereShape.h:85
btAlignedObjectArray.h
btVector3FloatData
Definition: btVector3.h:1301
btPositionAndRadius
Definition: btMultiSphereShape.h:77
btMultiSphereShape::getSpherePosition
const btVector3 & getSpherePosition(int index) const
Definition: btMultiSphereShape.h:52
btMultiSphereShape::m_localPositionArray
btAlignedObjectArray< btVector3 > m_localPositionArray
Definition: btMultiSphereShape.h:31
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btMultiSphereShapeData
Definition: btMultiSphereShape.h:83