Bullet Collision Detection & Physics Library
btCollisionShape.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_COLLISION_SHAPE_H
17 #define BT_COLLISION_SHAPE_H
18 
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btMatrix3x3.h"
22 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
23 class btSerializer;
24 
28 {
29 protected:
33 
34 public:
36 
37  btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
38  {
39  }
40 
42  {
43  }
44 
46  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
47 
48  virtual void getBoundingSphere(btVector3 & center, btScalar & radius) const;
49 
51  virtual btScalar getAngularMotionDisc() const;
52 
53  virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
54 
57  void calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const;
58 
60  {
61  return btBroadphaseProxy::isPolyhedral(getShapeType());
62  }
63 
65  {
66  return btBroadphaseProxy::isConvex2d(getShapeType());
67  }
68 
70  {
71  return btBroadphaseProxy::isConvex(getShapeType());
72  }
74  {
75  return btBroadphaseProxy::isNonMoving(getShapeType());
76  }
78  {
79  return btBroadphaseProxy::isConcave(getShapeType());
80  }
82  {
83  return btBroadphaseProxy::isCompound(getShapeType());
84  }
85 
87  {
88  return btBroadphaseProxy::isSoftBody(getShapeType());
89  }
90 
93  {
94  return btBroadphaseProxy::isInfinite(getShapeType());
95  }
96 
97 #ifndef __SPU__
98  virtual void setLocalScaling(const btVector3& scaling) = 0;
99  virtual const btVector3& getLocalScaling() const = 0;
100  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const = 0;
101 
102  //debugging support
103  virtual const char* getName() const = 0;
104 #endif //__SPU__
105 
106  int getShapeType() const
107  {
108  return m_shapeType;
109  }
110 
114  {
115  return btVector3(1, 1, 1);
116  }
117  virtual void setMargin(btScalar margin) = 0;
118  virtual btScalar getMargin() const = 0;
119 
121  void setUserPointer(void* userPtr)
122  {
123  m_userPointer = userPtr;
124  }
125 
126  void* getUserPointer() const
127  {
128  return m_userPointer;
129  }
130  void setUserIndex(int index)
131  {
132  m_userIndex = index;
133  }
134 
135  int getUserIndex() const
136  {
137  return m_userIndex;
138  }
139 
140  virtual int calculateSerializeBufferSize() const;
141 
143  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
144 
145  virtual void serializeSingleShape(btSerializer * serializer) const;
146 };
147 
148 // clang-format off
149 // parser needs * with the name
152 {
153  char *m_name;
155  char m_padding[4];
156 };
157 // clang-format on
159 {
160  return sizeof(btCollisionShapeData);
161 }
162 
163 #endif //BT_COLLISION_SHAPE_H
static bool isInfinite(int proxyType)
bool isConvex() const
bool isInfinite() const
isInfinite is used to catch simulation error (aabb check)
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
bool isConvex2d() const
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
static bool isCompound(int proxyType)
static bool isNonMoving(int proxyType)
void setUserPointer(void *userPtr)
optional user data pointer
bool isCompound() const
int getUserIndex() const
virtual int calculateSerializeBufferSize() const
bool isConcave() const
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
static bool isPolyhedral(int proxyType)
bool isPolyhedral() const
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
static bool isSoftBody(int proxyType)
bool isNonMoving() const
bool isSoftBody() const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
static bool isConvex2d(int proxyType)
static bool isConcave(int proxyType)
virtual ~btCollisionShape()
int getShapeType() const
void setUserIndex(int index)
void * getUserPointer() const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
static bool isConvex(int proxyType)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294