Bullet Collision Detection & Physics Library
btCollisionShape.h
Go to the documentation of this file.
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
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:151
btCollisionShapeData::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:154
btCollisionShape::setUserIndex
void setUserIndex(int index)
Definition: btCollisionShape.h:130
btBroadphaseProxy::isConvex2d
static bool isConvex2d(int proxyType)
Definition: btBroadphaseProxy.h:165
btCollisionShape::m_userIndex
int m_userIndex
Definition: btCollisionShape.h:32
btCollisionShape::getUserPointer
void * getUserPointer() const
Definition: btCollisionShape.h:126
btCollisionShape::getUserIndex
int getUserIndex() const
Definition: btCollisionShape.h:135
btCollisionShape::getShapeType
int getShapeType() const
Definition: btCollisionShape.h:106
btCollisionShapeData::m_name
char * m_name
Definition: btCollisionShape.h:153
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btCollisionShape::isCompound
bool isCompound() const
Definition: btCollisionShape.h:81
btCollisionShape::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btCollisionShape.h:113
INVALID_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:76
btBroadphaseProxy::isCompound
static bool isCompound(int proxyType)
Definition: btBroadphaseProxy.h:150
btCollisionShape::~btCollisionShape
virtual ~btCollisionShape()
Definition: btCollisionShape.h:41
btCollisionShapeData::m_padding
char m_padding[4]
Definition: btCollisionShape.h:155
btMatrix3x3.h
btBroadphaseProxy::isPolyhedral
static bool isPolyhedral(int proxyType)
Definition: btBroadphaseProxy.h:130
btCollisionShape::m_userPointer
void * m_userPointer
Definition: btCollisionShape.h:31
btBroadphaseProxy::isConvex
static bool isConvex(int proxyType)
Definition: btBroadphaseProxy.h:135
btCollisionShape::btCollisionShape
btCollisionShape()
Definition: btCollisionShape.h:37
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btVector3.h
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:26
btBroadphaseProxy::isSoftBody
static bool isSoftBody(int proxyType)
Definition: btBroadphaseProxy.h:155
btBroadphaseProxy::isConcave
static bool isConcave(int proxyType)
Definition: btBroadphaseProxy.h:145
btCollisionShape::isNonMoving
bool isNonMoving() const
Definition: btCollisionShape.h:73
btTransform.h
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btBroadphaseProxy::isInfinite
static bool isInfinite(int proxyType)
Definition: btBroadphaseProxy.h:160
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
btCollisionShape::isInfinite
bool isInfinite() const
isInfinite is used to catch simulation error (aabb check)
Definition: btCollisionShape.h:92
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btCollisionShape::isConvex
bool isConvex() const
Definition: btCollisionShape.h:69
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btCollisionShape::isConvex2d
bool isConvex2d() const
Definition: btCollisionShape.h:64
btBroadphaseProxy.h
btSerializer
Definition: btSerializer.h:65
btCollisionShape::isPolyhedral
bool isPolyhedral() const
Definition: btCollisionShape.h:59
btCollisionShape::isConcave
bool isConcave() const
Definition: btCollisionShape.h:77
btCollisionShape::setUserPointer
void setUserPointer(void *userPtr)
optional user data pointer
Definition: btCollisionShape.h:121
btBroadphaseProxy::isNonMoving
static bool isNonMoving(int proxyType)
Definition: btBroadphaseProxy.h:140
btCollisionShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCollisionShape.h:158
btCollisionShape::isSoftBody
bool isSoftBody() const
Definition: btCollisionShape.h:86