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
void setSafeMargin(const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb&#39;s default implementation is brute force, expected derived classes to implement a fast dedicat...
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
virtual int calculateSerializeBufferSize() const
#define btAssert(x)
Definition: btScalar.h:133
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition: btVector3.h:1291
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
void setImplicitShapeDimensions(const btVector3 &dimensions)
warning: use setImplicitShapeDimensions with care changing a collision shape while the body is in the...
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
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
virtual void setMargin(btScalar margin)
virtual btScalar getMargin() const
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
btCollisionShapeData m_collisionShapeData
btVector3FloatData m_implicitShapeDimensions
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
virtual void setLocalScaling(const btVector3 &scaling)
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
const btVector3 & getLocalScalingNV() const
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb&#39;s default implementation is brute force, expected derived classes to implement a fast dedicat...
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
const btVector3 & getImplicitShapeDimensions() const
virtual const btVector3 & getLocalScaling() const
virtual int getNumPreferredPenetrationDirections() const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294