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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h | 207 |
1 files changed, 0 insertions, 207 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h deleted file mode 100644 index 7e2d0eb817..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h +++ /dev/null @@ -1,207 +0,0 @@ -/* -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_COMPOUND_SHAPE_H -#define BT_COMPOUND_SHAPE_H - -#include "btCollisionShape.h" - -#include "LinearMath/btVector3.h" -#include "LinearMath/btTransform.h" -#include "LinearMath/btMatrix3x3.h" -#include "btCollisionMargin.h" -#include "LinearMath/btAlignedObjectArray.h" - -//class btOptimizedBvh; -struct btDbvt; - -ATTRIBUTE_ALIGNED16(struct) -btCompoundShapeChild -{ - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btTransform m_transform; - btCollisionShape* m_childShape; - int m_childShapeType; - btScalar m_childMargin; - struct btDbvtNode* m_node; -}; - -SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2) -{ - return (c1.m_transform == c2.m_transform && - c1.m_childShape == c2.m_childShape && - c1.m_childShapeType == c2.m_childShapeType && - c1.m_childMargin == c2.m_childMargin); -} - -/// The btCompoundShape allows to store multiple other btCollisionShapes -/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape. -/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. -/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25 -/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape) -ATTRIBUTE_ALIGNED16(class) -btCompoundShape : public btCollisionShape -{ -protected: - btAlignedObjectArray<btCompoundShapeChild> m_children; - btVector3 m_localAabbMin; - btVector3 m_localAabbMax; - - btDbvt* m_dynamicAabbTree; - - ///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated - int m_updateRevision; - - btScalar m_collisionMargin; - - btVector3 m_localScaling; - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - explicit btCompoundShape(bool enableDynamicAabbTree = true, const int initialChildCapacity = 0); - - virtual ~btCompoundShape(); - - void addChildShape(const btTransform& localTransform, btCollisionShape* shape); - - /// Remove all children shapes that contain the specified shape - virtual void removeChildShape(btCollisionShape * shape); - - void removeChildShapeByIndex(int childShapeindex); - - int getNumChildShapes() const - { - return int(m_children.size()); - } - - btCollisionShape* getChildShape(int index) - { - return m_children[index].m_childShape; - } - const btCollisionShape* getChildShape(int index) const - { - return m_children[index].m_childShape; - } - - btTransform& getChildTransform(int index) - { - return m_children[index].m_transform; - } - const btTransform& getChildTransform(int index) const - { - return m_children[index].m_transform; - } - - ///set a new transform for a child, and update internal data structures (local aabb and dynamic tree) - void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true); - - btCompoundShapeChild* getChildList() - { - return &m_children[0]; - } - - ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version - virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; - - /** Re-calculate the local Aabb. Is called at the end of removeChildShapes. - Use this yourself if you modify the children or their transforms. */ - virtual void recalculateLocalAabb(); - - virtual void setLocalScaling(const btVector3& scaling); - - virtual const btVector3& getLocalScaling() const - { - return m_localScaling; - } - - virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const; - - virtual void setMargin(btScalar margin) - { - m_collisionMargin = margin; - } - virtual btScalar getMargin() const - { - return m_collisionMargin; - } - virtual const char* getName() const - { - return "Compound"; - } - - const btDbvt* getDynamicAabbTree() const - { - return m_dynamicAabbTree; - } - - btDbvt* getDynamicAabbTree() - { - return m_dynamicAabbTree; - } - - void createAabbTreeFromChildren(); - - ///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia - ///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform - ///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound - ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform - ///of the collision object by the principal transform. - void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const; - - int getUpdateRevision() const - { - return m_updateRevision; - } - - 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; -}; - -// clang-format off - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btCompoundShapeChildData -{ - btTransformFloatData m_transform; - btCollisionShapeData *m_childShape; - int m_childShapeType; - float m_childMargin; -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btCompoundShapeData -{ - btCollisionShapeData m_collisionShapeData; - - btCompoundShapeChildData *m_childShapePtr; - - int m_numChildShapes; - - float m_collisionMargin; - -}; - -// clang-format on - -SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const -{ - return sizeof(btCompoundShapeData); -} - -#endif //BT_COMPOUND_SHAPE_H |