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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h | 170 |
1 files changed, 170 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h new file mode 100644 index 0000000000..6c4916fbd4 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h @@ -0,0 +1,170 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_COLLISION_SHAPE_H +#define BT_COLLISION_SHAPE_H + +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types +class btSerializer; + + +///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. +ATTRIBUTE_ALIGNED16(class) btCollisionShape +{ +protected: + int m_shapeType; + void* m_userPointer; + int m_userIndex; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1) + { + } + + virtual ~btCollisionShape() + { + } + + ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; + + virtual void getBoundingSphere(btVector3& center,btScalar& radius) const; + + ///getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations. + virtual btScalar getAngularMotionDisc() const; + + virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const; + + + ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) + ///result is conservative + void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const; + + + + SIMD_FORCE_INLINE bool isPolyhedral() const + { + return btBroadphaseProxy::isPolyhedral(getShapeType()); + } + + SIMD_FORCE_INLINE bool isConvex2d() const + { + return btBroadphaseProxy::isConvex2d(getShapeType()); + } + + SIMD_FORCE_INLINE bool isConvex() const + { + return btBroadphaseProxy::isConvex(getShapeType()); + } + SIMD_FORCE_INLINE bool isNonMoving() const + { + return btBroadphaseProxy::isNonMoving(getShapeType()); + } + SIMD_FORCE_INLINE bool isConcave() const + { + return btBroadphaseProxy::isConcave(getShapeType()); + } + SIMD_FORCE_INLINE bool isCompound() const + { + return btBroadphaseProxy::isCompound(getShapeType()); + } + + SIMD_FORCE_INLINE bool isSoftBody() const + { + return btBroadphaseProxy::isSoftBody(getShapeType()); + } + + ///isInfinite is used to catch simulation error (aabb check) + SIMD_FORCE_INLINE bool isInfinite() const + { + return btBroadphaseProxy::isInfinite(getShapeType()); + } + +#ifndef __SPU__ + virtual void setLocalScaling(const btVector3& scaling) =0; + virtual const btVector3& getLocalScaling() const =0; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0; + + +//debugging support + virtual const char* getName()const =0 ; +#endif //__SPU__ + + + int getShapeType() const { return m_shapeType; } + + ///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction + ///See Bullet/Demos/RollingFrictionDemo for an example + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3(1,1,1); + } + virtual void setMargin(btScalar margin) = 0; + virtual btScalar getMargin() const = 0; + + + ///optional user data pointer + void setUserPointer(void* userPtr) + { + m_userPointer = userPtr; + } + + void* getUserPointer() const + { + return m_userPointer; + } + void setUserIndex(int index) + { + m_userIndex = index; + } + + int getUserIndex() const + { + return m_userIndex; + } + + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + virtual void serializeSingleShape(btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCollisionShapeData +{ + char *m_name; + int m_shapeType; + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const +{ + return sizeof(btCollisionShapeData); +} + + + +#endif //BT_COLLISION_SHAPE_H + |