Bullet Collision Detection & Physics Library
btBvhTriangleMeshShape.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_BVH_TRIANGLE_MESH_SHAPE_H
17 #define BT_BVH_TRIANGLE_MESH_SHAPE_H
18 
19 #include "btTriangleMeshShape.h"
20 #include "btOptimizedBvh.h"
22 #include "btTriangleInfoMap.h"
23 
36 {
39 
41  bool m_ownsBvh;
42 #ifdef __clang__
43  bool m_pad[11] __attribute__((unused));
44 #else
45  bool m_pad[11];
46 #endif
47 
48 public:
50 
51  btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
52 
54  btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, bool buildBvh = true);
55 
56  virtual ~btBvhTriangleMeshShape();
57 
58  bool getOwnsBvh() const
59  {
60  return m_ownsBvh;
61  }
62 
63  void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget);
64  void performConvexcast(btTriangleCallback * callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
65 
66  virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
67 
68  void refitTree(const btVector3& aabbMin, const btVector3& aabbMax);
69 
71  void partialRefitTree(const btVector3& aabbMin, const btVector3& aabbMax);
72 
73  //debugging
74  virtual const char* getName() const { return "BVHTRIANGLEMESH"; }
75 
76  virtual void setLocalScaling(const btVector3& scaling);
77 
79  {
80  return m_bvh;
81  }
82 
83  void setOptimizedBvh(btOptimizedBvh * bvh, const btVector3& localScaling = btVector3(1, 1, 1));
84 
85  void buildOptimizedBvh();
86 
88  {
89  return m_useQuantizedAabbCompression;
90  }
91 
92  void setTriangleInfoMap(btTriangleInfoMap * triangleInfoMap)
93  {
94  m_triangleInfoMap = triangleInfoMap;
95  }
96 
98  {
99  return m_triangleInfoMap;
100  }
101 
103  {
104  return m_triangleInfoMap;
105  }
106 
107  virtual int calculateSerializeBufferSize() const;
108 
110  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
111 
112  virtual void serializeSingleBvh(btSerializer * serializer) const;
113 
114  virtual void serializeSingleTriangleInfoMap(btSerializer * serializer) const;
115 };
116 
117 // clang-format off
118 
121 {
123 
125 
128 
130 
132 
133  char m_pad3[4];
134 
135 };
136 
137 // clang-format on
138 
140 {
141  return sizeof(btTriangleMeshShapeData);
142 }
143 
144 #endif //BT_BVH_TRIANGLE_MESH_SHAPE_H
const btTriangleInfoMap * getTriangleInfoMap() const
virtual int calculateSerializeBufferSize() const
btCollisionShapeData m_collisionShapeData
bool usesQuantizedAabbCompression() const
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btStridingMeshInterfaceData m_meshInterface
btTriangleInfoMapData * m_triangleInfoMap
The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly...
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 ...
btTriangleInfoMap * m_triangleInfoMap
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
virtual const char * getName() const
The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface.
btQuantizedBvhDoubleData * m_quantizedDoubleBvh
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
void setTriangleInfoMap(btTriangleInfoMap *triangleInfoMap)
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
btQuantizedBvhFloatData * m_quantizedFloatBvh
btOptimizedBvh * getOptimizedBvh()
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
btTriangleInfoMap * getTriangleInfoMap()