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 
30 {
31 protected:
32  //local scaling. collisionMargin is not scaled !
34 
36 
38 
40 
42 
43 public:
45 
47  {
48  }
49 
50  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
51 
53  {
54  return m_implicitShapeDimensions;
55  }
56 
61  void setImplicitShapeDimensions(const btVector3& dimensions)
62  {
63  m_implicitShapeDimensions = dimensions;
64  }
65 
66  void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
67  {
68  btScalar safeMargin = defaultMarginMultiplier * minDimension;
69  if (safeMargin < getMargin())
70  {
71  setMargin(safeMargin);
72  }
73  }
74  void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
75  {
76  //see http://code.google.com/p/bullet/issues/detail?id=349
77  //this margin check could could be added to other collision shapes too,
78  //or add some assert/warning somewhere
79  btScalar minDimension = halfExtents[halfExtents.minAxis()];
80  setSafeMargin(minDimension, defaultMarginMultiplier);
81  }
82 
84  void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
85  {
86  getAabbSlow(t, aabbMin, aabbMax);
87  }
88 
89  virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
90 
91  virtual void setLocalScaling(const btVector3& scaling);
92  virtual const btVector3& getLocalScaling() const
93  {
94  return m_localScaling;
95  }
96 
98  {
99  return m_localScaling;
100  }
101 
102  virtual void setMargin(btScalar margin)
103  {
104  m_collisionMargin = margin;
105  }
106  virtual btScalar getMargin() const
107  {
108  return m_collisionMargin;
109  }
110 
112  {
113  return m_collisionMargin;
114  }
115 
117  {
118  return 0;
119  }
120 
121  virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
122  {
123  (void)penetrationVector;
124  (void)index;
125  btAssert(0);
126  }
127 
128  virtual int calculateSerializeBufferSize() const;
129 
131  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
132 };
133 
136 {
138 
140 
142 
144 
146 };
147 
149 {
150  return sizeof(btConvexInternalShapeData);
151 }
152 
154 SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
155 {
156  btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*)dataBuffer;
157  btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
158 
161  shapeData->m_collisionMargin = float(m_collisionMargin);
162 
163  // Fill padding with zeros to appease msan.
164  shapeData->m_padding = 0;
165 
166  return "btConvexInternalShapeData";
167 }
168 
171 {
175 
176 protected:
178 
179  void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
180  {
181  m_isLocalAabbValid = true;
182  m_localAabbMin = aabbMin;
183  m_localAabbMax = aabbMax;
184  }
185 
186  inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
187  {
189  aabbMin = m_localAabbMin;
190  aabbMax = m_localAabbMax;
191  }
192 
193  inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
194  {
195  //lazy evaluation of local aabb
197  btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
198  }
199 
200 public:
201  virtual void setLocalScaling(const btVector3& scaling);
202 
203  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
204 
205  void recalcLocalAabb();
206 };
207 
208 #endif //BT_CONVEX_INTERNAL_SHAPE_H
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:151
btConvexInternalShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btConvexInternalShape.h:148
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btConvexInternalShape.h:37
btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
Definition: btConvexInternalShape.h:170
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:33
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:28
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btConvexInternalAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition: btConvexInternalShape.h:193
btConvexShape.h
btConvexInternalShape::getLocalScalingNV
const btVector3 & getLocalScalingNV() const
Definition: btConvexInternalShape.h:97
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:61
btConvexInternalShape::getImplicitShapeDimensions
const btVector3 & getImplicitShapeDimensions() const
Definition: btConvexInternalShape.h:52
btConvexInternalAabbCachingShape::m_isLocalAabbValid
bool m_isLocalAabbValid
Definition: btConvexInternalShape.h:174
btConvexInternalShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btConvexInternalShape.h:92
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:84
btConvexInternalShape::~btConvexInternalShape
virtual ~btConvexInternalShape()
Definition: btConvexInternalShape.h:46
btConvexInternalAabbCachingShape::setCachedLocalAabb
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
Definition: btConvexInternalShape.h:179
btVector3FloatData
Definition: btVector3.h:1281
btAssert
#define btAssert(x)
Definition: btScalar.h:133
btConvexInternalShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition: btConvexInternalShape.h:139
btConvexInternalAabbCachingShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btConvexInternalShape.h:173
btConvexInternalShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition: btConvexInternalShape.h:137
btConvexInternalShape::setSafeMargin
void setSafeMargin(const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
Definition: btConvexInternalShape.h:74
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition: btConvexInternalShape.h:35
btConvexInternalAabbCachingShape::getCachedLocalAabb
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btConvexInternalShape.h:186
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btAabbUtil2.h
btConvexInternalShape::setSafeMargin
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
Definition: btConvexInternalShape.h:66
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:82
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConvexInternalShape.h:135
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btVector3::serializeFloat
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition: btVector3.h:1291
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition: btConvexInternalShape.h:106
btConvexInternalShapeData::m_collisionMargin
float m_collisionMargin
Definition: btConvexInternalShape.h:143
btConvexInternalAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition: btConvexInternalShape.cpp:93
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:96
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btConvexInternalShapeData::m_padding
int m_padding
Definition: btConvexInternalShape.h:145
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape()
Definition: btConvexInternalShape.cpp:74
btSerializer
Definition: btSerializer.h:65
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btConvexInternalShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btConvexInternalShape.h:121
btConvexInternalShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btConvexInternalShape.h:102
btConvexInternalShape::m_padding
btScalar m_padding
Definition: btConvexInternalShape.h:39
btConvexInternalShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition: btConvexInternalShape.h:116
btConvexInternalShape::getMarginNV
btScalar getMarginNV() const
Definition: btConvexInternalShape.h:111
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:470
btConvexInternalAabbCachingShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btConvexInternalShape.h:172
btConvexInternalAabbCachingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:87
btConvexInternalShapeData::m_implicitShapeDimensions
btVector3FloatData m_implicitShapeDimensions
Definition: btConvexInternalShape.h:141
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:154