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
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:151
btOptimizedBvh.h
btTriangleMeshShape
The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly...
Definition: btTriangleMeshShape.h:23
btBvhTriangleMeshShape::m_bvh
btOptimizedBvh * m_bvh
Definition: btBvhTriangleMeshShape.h:37
btOptimizedBvh
The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes,...
Definition: btOptimizedBvh.h:26
btTriangleMeshShapeData::m_pad3
char m_pad3[4]
Definition: btBvhTriangleMeshShape.h:133
btTriangleMeshShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btBvhTriangleMeshShape.h:120
btTriangleInfoMap.h
btBvhTriangleMeshShape
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
Definition: btBvhTriangleMeshShape.h:34
btBvhTriangleMeshShape::m_triangleInfoMap
btTriangleInfoMap * m_triangleInfoMap
Definition: btBvhTriangleMeshShape.h:38
btBvhTriangleMeshShape::usesQuantizedAabbCompression
bool usesQuantizedAabbCompression() const
Definition: btBvhTriangleMeshShape.h:87
btBvhTriangleMeshShape::getOwnsBvh
bool getOwnsBvh() const
Definition: btBvhTriangleMeshShape.h:58
btTriangleMeshShapeData::m_meshInterface
btStridingMeshInterfaceData m_meshInterface
Definition: btBvhTriangleMeshShape.h:124
btStridingMeshInterface
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
Definition: btStridingMeshInterface.h:26
btTriangleMeshShapeData::m_collisionMargin
float m_collisionMargin
Definition: btBvhTriangleMeshShape.h:131
btTriangleMeshShapeData::m_triangleInfoMap
btTriangleInfoMapData * m_triangleInfoMap
Definition: btBvhTriangleMeshShape.h:129
btBvhTriangleMeshShape::getName
virtual const char * getName() const
Definition: btBvhTriangleMeshShape.h:74
btTriangleInfoMap
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
Definition: btTriangleInfoMap.h:53
btAlignedAllocator.h
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:23
btTriangleMeshShapeData::m_quantizedDoubleBvh
btQuantizedBvhDoubleData * m_quantizedDoubleBvh
Definition: btBvhTriangleMeshShape.h:127
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
btBvhTriangleMeshShape::m_useQuantizedAabbCompression
bool m_useQuantizedAabbCompression
Definition: btBvhTriangleMeshShape.h:40
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btBvhTriangleMeshShape::setTriangleInfoMap
void setTriangleInfoMap(btTriangleInfoMap *triangleInfoMap)
Definition: btBvhTriangleMeshShape.h:92
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btTriangleMeshShapeData::m_quantizedFloatBvh
btQuantizedBvhFloatData * m_quantizedFloatBvh
Definition: btBvhTriangleMeshShape.h:126
btSerializer
Definition: btSerializer.h:65
btTriangleMeshShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition: btBvhTriangleMeshShape.h:122
btQuantizedBvhFloatData
Definition: btQuantizedBvh.h:503
btTriangleInfoMapData
Definition: btTriangleInfoMap.h:92
btBvhTriangleMeshShape::getTriangleInfoMap
btTriangleInfoMap * getTriangleInfoMap()
Definition: btBvhTriangleMeshShape.h:102
btBvhTriangleMeshShape::getTriangleInfoMap
const btTriangleInfoMap * getTriangleInfoMap() const
Definition: btBvhTriangleMeshShape.h:97
btStridingMeshInterfaceData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btStridingMeshInterface.h:138
btQuantizedBvhDoubleData
Definition: btQuantizedBvh.h:520
btTriangleMeshShape.h
btBvhTriangleMeshShape::getOptimizedBvh
btOptimizedBvh * getOptimizedBvh()
Definition: btBvhTriangleMeshShape.h:78
btBvhTriangleMeshShape::m_ownsBvh
bool m_ownsBvh
Definition: btBvhTriangleMeshShape.h:41
btBvhTriangleMeshShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btBvhTriangleMeshShape.h:139