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

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btConvexInternalShape.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_CONVEX_INTERNAL_SHAPE_H
17 #define BT_CONVEX_INTERNAL_SHAPE_H
18
19 #include "btConvexShape.h"
20 #include "LinearMath/btAabbUtil2.h"
21
22
29 ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape
30 {
31
32 protected:
33
34 //local scaling. collisionMargin is not scaled !
35 btVector3 m_localScaling;
36
37 btVector3 m_implicitShapeDimensions;
38
39 btScalar m_collisionMargin;
40
41 btScalar m_padding;
42
43 btConvexInternalShape();
44
45 public:
46
47 BT_DECLARE_ALIGNED_ALLOCATOR();
48
49 virtual ~btConvexInternalShape()
50 {
51
52 }
53
54 virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
55
56 const btVector3& getImplicitShapeDimensions() const
57 {
58 return m_implicitShapeDimensions;
59 }
60
65 void setImplicitShapeDimensions(const btVector3& dimensions)
66 {
67 m_implicitShapeDimensions = dimensions;
68 }
69
70 void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
71 {
72 btScalar safeMargin = defaultMarginMultiplier*minDimension;
73 if (safeMargin < getMargin())
74 {
75 setMargin(safeMargin);
76 }
77 }
78 void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
79 {
80 //see http://code.google.com/p/bullet/issues/detail?id=349
81 //this margin check could could be added to other collision shapes too,
82 //or add some assert/warning somewhere
83 btScalar minDimension=halfExtents[halfExtents.minAxis()];
84 setSafeMargin(minDimension, defaultMarginMultiplier);
85 }
86
88 void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
89 {
90 getAabbSlow(t,aabbMin,aabbMax);
91 }
92
93
94
95 virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
96
97
98 virtual void setLocalScaling(const btVector3& scaling);
99 virtual const btVector3& getLocalScaling() const
100 {
101 return m_localScaling;
102 }
103
104 const btVector3& getLocalScalingNV() const
105 {
106 return m_localScaling;
107 }
108
109 virtual void setMargin(btScalar margin)
110 {
111 m_collisionMargin = margin;
112 }
113 virtual btScalar getMargin() const
114 {
115 return m_collisionMargin;
116 }
117
118 btScalar getMarginNV() const
119 {
120 return m_collisionMargin;
121 }
122
123 virtual int getNumPreferredPenetrationDirections() const
124 {
125 return 0;
126 }
127
128 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
129 {
130 (void)penetrationVector;
131 (void)index;
132 btAssert(0);
133 }
134
135 virtual int calculateSerializeBufferSize() const;
136
138 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
139
140
141 };
142
144 struct btConvexInternalShapeData
145 {
146 btCollisionShapeData m_collisionShapeData;
147
148 btVector3FloatData m_localScaling;
149
150 btVector3FloatData m_implicitShapeDimensions;
151
152 float m_collisionMargin;
153
154 int m_padding;
155
156 };
157
158
159
160 SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
161 {
162 return sizeof(btConvexInternalShapeData);
163 }
164
166 SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
167 {
168 btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
169 btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
170
171 m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
172 m_localScaling.serializeFloat(shapeData->m_localScaling);
173 shapeData->m_collisionMargin = float(m_collisionMargin);
174
175 return "btConvexInternalShapeData";
176 }
177
178
179
180
182 class btConvexInternalAabbCachingShape : public btConvexInternalShape
183 {
184 btVector3 m_localAabbMin;
185 btVector3 m_localAabbMax;
186 bool m_isLocalAabbValid;
187
188 protected:
189
190 btConvexInternalAabbCachingShape();
191
192 void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
193 {
194 m_isLocalAabbValid = true;
195 m_localAabbMin = aabbMin;
196 m_localAabbMax = aabbMax;
197 }
198
199 inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
200 {
201 btAssert(m_isLocalAabbValid);
202 aabbMin = m_localAabbMin;
203 aabbMax = m_localAabbMax;
204 }
205
206 inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
207 {
208
209 //lazy evaluation of local aabb
210 btAssert(m_isLocalAabbValid);
211 btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
212 }
213
214 public:
215
216 virtual void setLocalScaling(const btVector3& scaling);
217
218 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
219
220 void recalcLocalAabb();
221
222 };
223
224 #endif //BT_CONVEX_INTERNAL_SHAPE_H
btConvexInternalShape::getLocalScalingNV
const btVector3 & getLocalScalingNV() const
Definition: btConvexInternalShape.h:104
btConvexInternalShape::setSafeMargin
void setSafeMargin(const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
Definition: btConvexInternalShape.h:78
btConvexInternalAabbCachingShape::setCachedLocalAabb
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
Definition: btConvexInternalShape.h:192
btConvexInternalShape::getAabb
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btConvexInternalShape.h:88
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btConvexInternalShape.h:39
btConvexInternalShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btConvexInternalShape.h:160
btConvexInternalShape::~btConvexInternalShape
virtual ~btConvexInternalShape()
Definition: btConvexInternalShape.h:49
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:29
btConvexInternalShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btConvexInternalShape.h:166
btAssert
#define btAssert(x)
Definition: btScalar.h:113
btConvexInternalAabbCachingShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btConvexInternalShape.h:185
btConvexInternalShape::m_padding
btScalar m_padding
Definition: btConvexInternalShape.h:41
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:35
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConvexInternalShape.h:144
btConvexShape.h
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition: btConvexInternalShape.h:113
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition: btConvexInternalShape.h:37
btSerializer
Definition: btSerializer.h:68
btConvexInternalShapeData::m_collisionMargin
float m_collisionMargin
Definition: btConvexInternalShape.h:152
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btConvexInternalShape::setImplicitShapeDimensions
void setImplicitShapeDimensions(const btVector3 &dimensions)
warning: use setImplicitShapeDimensions with care changing a collision shape while the body is in the...
Definition: btConvexInternalShape.h:65
btConvexInternalAabbCachingShape::getCachedLocalAabb
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btConvexInternalShape.h:199
btConvexInternalShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btConvexInternalShape.h:109
btAabbUtil2.h
btConvexInternalAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition: btConvexInternalShape.h:206
btConvexInternalShapeData::m_padding
int m_padding
Definition: btConvexInternalShape.h:154
btConvexInternalShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition: btConvexInternalShape.h:148
btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
Definition: btConvexInternalShape.h:182
btConvexInternalShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition: btConvexInternalShape.h:146
btConvexInternalShapeData::m_implicitShapeDimensions
btVector3FloatData m_implicitShapeDimensions
Definition: btConvexInternalShape.h:150
btVector3::serializeFloat
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition: btVector3.h:1312
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape()
Definition: btConvexInternalShape.cpp:84
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
btConvexInternalShape::getMarginNV
btScalar getMarginNV() const
Definition: btConvexInternalShape.h:118
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btConvexInternalShape::setSafeMargin
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
Definition: btConvexInternalShape.h:70
btConvexInternalShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition: btConvexInternalShape.h:123
btConvexInternalShape::getImplicitShapeDimensions
const btVector3 & getImplicitShapeDimensions() const
Definition: btConvexInternalShape.h:56
btConvexInternalAabbCachingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:98
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btVector3::minAxis
int minAxis() const
Return the axis with the smallest value Note return values are 0,1,2 for x, y, or z...
Definition: btVector3.h:468
btConvexInternalAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition: btConvexInternalShape.cpp:105
btVector3FloatData
Definition: btVector3.h:1301
btConvexInternalShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btConvexInternalShape.h:99
btConvexInternalShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btConvexInternalShape.h:128
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:182
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btCollisionShape.h:155
btConvexInternalAabbCachingShape::m_isLocalAabbValid
bool m_isLocalAabbValid
Definition: btConvexInternalShape.h:186
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btConvexInternalAabbCachingShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btConvexInternalShape.h:184
btCollisionShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionShape.cpp:99
btConvexInternalAabbCachingShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btConvexInternalShape.cpp:93