Bullet Collision Detection & Physics Library
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 
30 {
31 
32  protected:
33 
34  //local scaling. collisionMargin is not scaled !
36 
38 
40 
42 
44 
45 public:
46 
48 
50  {
51 
52  }
53 
54  virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
55 
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 
119  {
120  return m_collisionMargin;
121  }
122 
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 
145 {
147 
149 
151 
153 
155 
156 };
157 
158 
159 
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  // Fill padding with zeros to appease msan.
176  shapeData->m_padding = 0;
177 
178  return "btConvexInternalShapeData";
179 }
180 
181 
182 
183 
186 {
190 
191 protected:
192 
194 
195  void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
196  {
197  m_isLocalAabbValid = true;
198  m_localAabbMin = aabbMin;
199  m_localAabbMax = aabbMax;
200  }
201 
202  inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
203  {
204  btAssert(m_isLocalAabbValid);
205  aabbMin = m_localAabbMin;
206  aabbMax = m_localAabbMax;
207  }
208 
209  inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
210  {
211 
212  //lazy evaluation of local aabb
213  btAssert(m_isLocalAabbValid);
214  btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
215  }
216 
217 public:
218 
219  virtual void setLocalScaling(const btVector3& scaling);
220 
221  virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
222 
223  void recalcLocalAabb();
224 
225 };
226 
227 #endif //BT_CONVEX_INTERNAL_SHAPE_H
const btVector3 & getLocalScalingNV() const
void setSafeMargin(const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb&#39;s default implementation is brute force, expected derived classes to implement a fast dedicat...
virtual int calculateSerializeBufferSize() const
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
#define btAssert(x)
Definition: btScalar.h:131
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
virtual btScalar getMargin() const
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
void setImplicitShapeDimensions(const btVector3 &dimensions)
warning: use setImplicitShapeDimensions with care changing a collision shape while the body is in the...
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void setMargin(btScalar margin)
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
btCollisionShapeData m_collisionShapeData
btVector3FloatData m_implicitShapeDimensions
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
btScalar getMarginNV() const
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
virtual int getNumPreferredPenetrationDirections() const
const btVector3 & getImplicitShapeDimensions() const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
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:480
virtual const btVector3 & getLocalScaling() const
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:182
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)