Bullet Collision Detection & Physics Library
btCollisionWorldImporter.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2014 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_WORLD_IMPORTER_H
17 #define BT_COLLISION_WORLD_IMPORTER_H
18 
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
22 #include "LinearMath/btHashMap.h"
23 
24 class btCollisionShape;
25 class btCollisionObject;
27 
28 struct ConstraintInput;
29 class btCollisionWorld;
34 class btGImpactMeshShape;
35 class btOptimizedBvh;
36 struct btTriangleInfoMap;
39 class btHingeConstraint;
43 class btSliderConstraint;
44 class btGearConstraint;
45 struct btContactSolverInfo;
46 
48 {
49 protected:
51 
53 
56 
62 
64 
68 
71 
74 
77 
79 
82 
83  //methods
84 
85  char* duplicateName(const char* name);
86 
88 
89 public:
91 
92  virtual ~btCollisionWorldImporter();
93 
95 
98  virtual void deleteAllData();
99 
100  void setVerboseMode(int verboseMode)
101  {
102  m_verboseMode = verboseMode;
103  }
104 
105  int getVerboseMode() const
106  {
107  return m_verboseMode;
108  }
109 
110  // query for data
111  int getNumCollisionShapes() const;
113  int getNumRigidBodies() const;
114  btCollisionObject* getRigidBodyByIndex(int index) const;
115 
116  int getNumBvhs() const;
117  btOptimizedBvh* getBvhByIndex(int index) const;
118  int getNumTriangleInfoMaps() const;
120 
121  // queris involving named objects
122  btCollisionShape* getCollisionShapeByName(const char* name);
123  btCollisionObject* getCollisionObjectByName(const char* name);
124 
125  const char* getNameForPointer(const void* ptr) const;
126 
128 
129  //bodies
130 
131  virtual btCollisionObject* createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
132 
134 
135  virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
136  virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
138  virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
139  virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
140  virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
141 
142  virtual btCollisionShape* createCylinderShapeX(btScalar radius, btScalar height);
143  virtual btCollisionShape* createCylinderShapeY(btScalar radius, btScalar height);
144  virtual btCollisionShape* createCylinderShapeZ(btScalar radius, btScalar height);
145  virtual btCollisionShape* createConeShapeX(btScalar radius, btScalar height);
146  virtual btCollisionShape* createConeShapeY(btScalar radius, btScalar height);
147  virtual btCollisionShape* createConeShapeZ(btScalar radius, btScalar height);
151 #ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
152  virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
153 #endif //SUPPORT_GIMPACT_SHAPE_IMPORT
155 
156  virtual class btConvexHullShape* createConvexHullShape();
157  virtual class btCompoundShape* createCompoundShape();
158  virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScalingbtBvhTriangleMeshShape);
159 
160  virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
161 
163 
167 };
168 
169 #endif //BT_WORLD_IMPORTER_H
btAlignedObjectArray< btTriangleIndexVertexArray * > m_allocatedTriangleIndexArrays
point to point constraint between two rigidbodies each with a pivotpoint that descibes the &#39;ballsocke...
btAlignedObjectArray< btCollisionShape * > m_allocatedCollisionShapes
virtual btOptimizedBvh * createOptimizedBvh()
acceleration and connectivity structures
btAlignedObjectArray< int * > m_indexArrays
virtual btCollisionObject * createCollisionObject(const btTransform &startTransform, btCollisionShape *shape, const char *bodyName)
those virtuals are called by load and can be overridden by the user
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
virtual btTriangleIndexVertexArray * createMeshInterface(btStridingMeshInterfaceData &meshData)
virtual btCollisionShape * createCylinderShapeZ(btScalar radius, btScalar height)
btAlignedObjectArray< btVector3DoubleData * > m_doubleVertexArrays
virtual btCollisionShape * createCylinderShapeX(btScalar radius, btScalar height)
char * duplicateName(const char *name)
virtual btTriangleInfoMap * createTriangleInfoMap()
The btGeatConstraint will couple the angular velocity for two bodies around given local axis and rati...
The btMultiSphereShape represents the convex hull of a collection of spheres.
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
virtual btCollisionShape * createSphereShape(btScalar radius)
btAlignedObjectArray< btStridingMeshInterfaceData * > m_allocatedbtStridingMeshInterfaceDatas
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
btHashMap< btHashPtr, btTriangleInfoMap * > m_timMap
virtual btCollisionShape * createCapsuleShapeX(btScalar radius, btScalar height)
virtual class btConvexHullShape * createConvexHullShape()
This class manages a mesh supplied by the btStridingMeshInterface interface.
virtual btCollisionShape * createPlaneShape(const btVector3 &planeNormal, btScalar planeConstant)
shapes
hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in lo...
virtual btBvhTriangleMeshShape * createBvhTriangleMeshShape(btStridingMeshInterface *trimesh, btOptimizedBvh *bvh)
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:219
btAlignedObjectArray< char * > m_allocatedNames
btAlignedObjectArray< unsigned char * > m_charIndexArrays
const char * getNameForPointer(const void *ptr) const
btCollisionObject * getRigidBodyByIndex(int index) const
void setVerboseMode(int verboseMode)
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
virtual class btCompoundShape * createCompoundShape()
The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing t...
virtual btCollisionShape * createCapsuleShapeZ(btScalar radius, btScalar height)
btOptimizedBvh * getBvhByIndex(int index) const
virtual class btScaledBvhTriangleMeshShape * createScaledTrangleMeshShape(btBvhTriangleMeshShape *meshShape, const btVector3 &localScalingbtBvhTriangleMeshShape)
btHashMap< btHashPtr, btOptimizedBvh * > m_bvhMap
btCollisionShape * convertCollisionShape(btCollisionShapeData *shapeData)
btCollisionObject can be used to manage collision detection objects.
btAlignedObjectArray< btVector3FloatData * > m_floatVertexArrays
The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface.
btHashMap< btHashString, btCollisionObject * > m_nameColObjMap
btAlignedObjectArray< btCollisionObject * > m_allocatedRigidBodies
btHashMap< btHashPtr, btCollisionObject * > m_bodyMap
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btAlignedObjectArray< btCollisionObject * > m_allocatedCollisionObjects
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) ...
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
CollisionWorld is interface and container for the collision detection.
btCollisionShape * getCollisionShapeByIndex(int index)
virtual btCollisionShape * createConeShapeY(btScalar radius, btScalar height)
virtual btStridingMeshInterfaceData * createStridingMeshInterfaceData(btStridingMeshInterfaceData *interfaceData)
btAlignedObjectArray< btTriangleInfoMap * > m_allocatedTriangleInfoMaps
bool convertAllObjects(btBulletSerializedArrays *arrays)
btHashMap< btHashString, btCollisionShape * > m_nameShapeMap
virtual class btMultiSphereShape * createMultiSphereShape(const btVector3 *positions, const btScalar *radi, int numSpheres)
virtual btCollisionShape * createBoxShape(const btVector3 &halfExtents)
virtual btCollisionShape * createCylinderShapeY(btScalar radius, btScalar height)
btHashMap< btHashPtr, const char * > m_objectNameMap
virtual class btTriangleIndexVertexArray * createTriangleMeshContainer()
virtual btCollisionShape * createConeShapeZ(btScalar radius, btScalar height)
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
virtual void deleteAllData()
delete all memory collision shapes, rigid bodies, constraints etc.
The btConvexHullShape implements an implicit convex hull of an array of vertices. ...
virtual btCollisionShape * createConeShapeX(btScalar radius, btScalar height)
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
btAlignedObjectArray< short int * > m_shortIndexArrays
virtual btCollisionShape * createCapsuleShapeY(btScalar radius, btScalar height)
btCollisionObject * getCollisionObjectByName(const char *name)
btTriangleInfoMap * getTriangleInfoMapByIndex(int index) const
Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF...
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
btCollisionShape * getCollisionShapeByName(const char *name)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
virtual btCollisionShape * createConvexTriangleMeshShape(btStridingMeshInterface *trimesh)
btCollisionWorldImporter(btCollisionWorld *world)
btAlignedObjectArray< btOptimizedBvh * > m_allocatedBvhs
btHashMap< btHashPtr, btCollisionShape * > m_shapeMap