diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h | 671 |
1 files changed, 307 insertions, 364 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h index 9d7e40562c..eb33ce05e2 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h @@ -1,5 +1,5 @@ /*! \file btGImpactShape.h -\author Francisco Len Nßjera +\author Francisco Leon Najera */ /* This source file is part of GIMPACT Library. @@ -21,7 +21,6 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - #ifndef GIMPACT_SHAPE_H #define GIMPACT_SHAPE_H @@ -37,8 +36,7 @@ subject to the following restrictions: #include "LinearMath/btMatrix3x3.h" #include "LinearMath/btAlignedObjectArray.h" -#include "btGImpactQuantizedBvh.h" // box tree class - +#include "btGImpactQuantizedBvh.h" // box tree class //! declare Quantized trees, (you can change to float based trees) typedef btGImpactQuantizedBvh btGImpactBoxSet; @@ -50,10 +48,8 @@ enum eGIMPACT_SHAPE_TYPE CONST_GIMPACT_TRIMESH_SHAPE }; - - //! Helper class for tetrahedrons -class btTetrahedronShapeEx:public btBU_Simplex1to4 +class btTetrahedronShapeEx : public btBU_Simplex1to4 { public: btTetrahedronShapeEx() @@ -61,10 +57,9 @@ public: m_numVertices = 4; } - SIMD_FORCE_INLINE void setVertices( - const btVector3 & v0,const btVector3 & v1, - const btVector3 & v2,const btVector3 & v3) + const btVector3& v0, const btVector3& v1, + const btVector3& v2, const btVector3& v3) { m_vertices[0] = v0; m_vertices[1] = v1; @@ -74,45 +69,42 @@ public: } }; - //! Base class for gimpact shapes class btGImpactShapeInterface : public btConcaveShape { protected: - btAABB m_localAABB; - bool m_needs_update; - btVector3 localScaling; - btGImpactBoxSet m_box_set;// optionally boxset + btAABB m_localAABB; + bool m_needs_update; + btVector3 localScaling; + btGImpactBoxSet m_box_set; // optionally boxset //! use this function for perfofm refit in bounding boxes - //! use this function for perfofm refit in bounding boxes - virtual void calcLocalAABB() - { + //! use this function for perfofm refit in bounding boxes + virtual void calcLocalAABB() + { lockChildShapes(); - if(m_box_set.getNodeCount() == 0) - { - m_box_set.buildSet(); - } - else - { - m_box_set.update(); - } - unlockChildShapes(); - - m_localAABB = m_box_set.getGlobalBox(); - } + if (m_box_set.getNodeCount() == 0) + { + m_box_set.buildSet(); + } + else + { + m_box_set.update(); + } + unlockChildShapes(); + m_localAABB = m_box_set.getGlobalBox(); + } public: btGImpactShapeInterface() { - m_shapeType=GIMPACT_SHAPE_PROXYTYPE; + m_shapeType = GIMPACT_SHAPE_PROXYTYPE; m_localAABB.invalidate(); m_needs_update = true; - localScaling.setValue(1.f,1.f,1.f); + localScaling.setValue(1.f, 1.f, 1.f); } - //! performs refit operation /*! Updates the entire Box set of this shape. @@ -120,47 +112,46 @@ public: will does nothing. \post if m_needs_update == true, then it calls calcLocalAABB(); */ - SIMD_FORCE_INLINE void updateBound() - { - if(!m_needs_update) return; - calcLocalAABB(); - m_needs_update = false; - } - - //! If the Bounding box is not updated, then this class attemps to calculate it. - /*! + SIMD_FORCE_INLINE void updateBound() + { + if (!m_needs_update) return; + calcLocalAABB(); + m_needs_update = false; + } + + //! If the Bounding box is not updated, then this class attemps to calculate it. + /*! \post Calls updateBound() for update the box set. */ - void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const - { - btAABB transformedbox = m_localAABB; - transformedbox.appy_transform(t); - aabbMin = transformedbox.m_min; - aabbMax = transformedbox.m_max; - } - - //! Tells to this object that is needed to refit the box set - virtual void postUpdate() - { - m_needs_update = true; - } + void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const + { + btAABB transformedbox = m_localAABB; + transformedbox.appy_transform(t); + aabbMin = transformedbox.m_min; + aabbMax = transformedbox.m_max; + } + + //! Tells to this object that is needed to refit the box set + virtual void postUpdate() + { + m_needs_update = true; + } //! Obtains the local box, which is the global calculated box of the total of subshapes - SIMD_FORCE_INLINE const btAABB & getLocalBox() + SIMD_FORCE_INLINE const btAABB& getLocalBox() { return m_localAABB; } + virtual int getShapeType() const + { + return GIMPACT_SHAPE_PROXYTYPE; + } - virtual int getShapeType() const - { - return GIMPACT_SHAPE_PROXYTYPE; - } - - /*! + /*! \post You must call updateBound() for update the box set. */ - virtual void setLocalScaling(const btVector3& scaling) + virtual void setLocalScaling(const btVector3& scaling) { localScaling = scaling; postUpdate(); @@ -171,46 +162,43 @@ public: return localScaling; } - virtual void setMargin(btScalar margin) - { - m_collisionMargin = margin; - int i = getNumChildShapes(); - while(i--) - { + { + m_collisionMargin = margin; + int i = getNumChildShapes(); + while (i--) + { btCollisionShape* child = getChildShape(i); child->setMargin(margin); - } + } m_needs_update = true; - } - + } //! Subshape member functions //!@{ //! Base method for determinig which kind of GIMPACT shape we get - virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0 ; + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0; //! gets boxset - SIMD_FORCE_INLINE const btGImpactBoxSet * getBoxSet() const + SIMD_FORCE_INLINE const btGImpactBoxSet* getBoxSet() const { return &m_box_set; } //! Determines if this class has a hierarchy structure for sorting its primitives - SIMD_FORCE_INLINE bool hasBoxSet() const + SIMD_FORCE_INLINE bool hasBoxSet() const { - if(m_box_set.getNodeCount() == 0) return false; + if (m_box_set.getNodeCount() == 0) return false; return true; } //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const = 0; - + virtual const btPrimitiveManagerBase* getPrimitiveManager() const = 0; //! Gets the number of children - virtual int getNumChildShapes() const = 0; + virtual int getNumChildShapes() const = 0; //! if true, then its children must get transforms. virtual bool childrenHasTransform() const = 0; @@ -221,11 +209,9 @@ public: //! Determines if this shape has tetrahedrons virtual bool needsRetrieveTetrahedrons() const = 0; - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const = 0; - - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const = 0; - + virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const = 0; + virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const = 0; //! call when reading child shapes virtual void lockChildShapes() const @@ -237,94 +223,91 @@ public: } //! if this trimesh - SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const + SIMD_FORCE_INLINE void getPrimitiveTriangle(int index, btPrimitiveTriangle& triangle) const { - getPrimitiveManager()->get_primitive_triangle(index,triangle); + getPrimitiveManager()->get_primitive_triangle(index, triangle); } - //! Retrieves the bound from a child - /*! + /*! */ - virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const - { - btAABB child_aabb; - getPrimitiveManager()->get_primitive_box(child_index,child_aabb); - child_aabb.appy_transform(t); - aabbMin = child_aabb.m_min; - aabbMax = child_aabb.m_max; - } + virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const + { + btAABB child_aabb; + getPrimitiveManager()->get_primitive_box(child_index, child_aabb); + child_aabb.appy_transform(t); + aabbMin = child_aabb.m_min; + aabbMax = child_aabb.m_max; + } //! Gets the children virtual btCollisionShape* getChildShape(int index) = 0; - //! Gets the child virtual const btCollisionShape* getChildShape(int index) const = 0; //! Gets the children transform - virtual btTransform getChildTransform(int index) const = 0; + virtual btTransform getChildTransform(int index) const = 0; //! Sets the children transform /*! \post You must call updateBound() for update the box set. */ - virtual void setChildTransform(int index, const btTransform & transform) = 0; + virtual void setChildTransform(int index, const btTransform& transform) = 0; //!@} - //! virtual method for ray collision - virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const { - (void) rayFrom; (void) rayTo; (void) resultCallback; + (void)rayFrom; + (void)rayTo; + (void)resultCallback; } //! Function for retrieve triangles. /*! It gives the triangles in local space */ - virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const + virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const { - (void) callback; (void) aabbMin; (void) aabbMax; + (void)callback; + (void)aabbMin; + (void)aabbMax; } //! Function for retrieve triangles. /*! It gives the triangles in local space */ - virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/,const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const + virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/, const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const { - } //!@} - }; - //! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once /*! This class only can manage Convex subshapes */ -class btGImpactCompoundShape : public btGImpactShapeInterface +class btGImpactCompoundShape : public btGImpactShapeInterface { public: //! compound primitive manager - class CompoundPrimitiveManager:public btPrimitiveManagerBase + class CompoundPrimitiveManager : public btPrimitiveManagerBase { public: virtual ~CompoundPrimitiveManager() {} - btGImpactCompoundShape * m_compoundShape; - + btGImpactCompoundShape* m_compoundShape; CompoundPrimitiveManager(const CompoundPrimitiveManager& compound) - : btPrimitiveManagerBase() + : btPrimitiveManagerBase() { m_compoundShape = compound.m_compoundShape; } - CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape) + CompoundPrimitiveManager(btGImpactCompoundShape* compoundShape) { m_compoundShape = compoundShape; } @@ -341,13 +324,13 @@ public: virtual int get_primitive_count() const { - return (int )m_compoundShape->getNumChildShapes(); + return (int)m_compoundShape->getNumChildShapes(); } - virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + virtual void get_primitive_box(int prim_index, btAABB& primbox) const { btTransform prim_trans; - if(m_compoundShape->childrenHasTransform()) + if (m_compoundShape->childrenHasTransform()) { prim_trans = m_compoundShape->getChildTransform(prim_index); } @@ -356,30 +339,26 @@ public: prim_trans.setIdentity(); } const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index); - shape->getAabb(prim_trans,primbox.m_min,primbox.m_max); + shape->getAabb(prim_trans, primbox.m_min, primbox.m_max); } - virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const { btAssert(0); - (void) prim_index; (void) triangle; + (void)prim_index; + (void)triangle; } - }; - - protected: CompoundPrimitiveManager m_primitive_manager; - btAlignedObjectArray<btTransform> m_childTransforms; - btAlignedObjectArray<btCollisionShape*> m_childShapes; - + btAlignedObjectArray<btTransform> m_childTransforms; + btAlignedObjectArray<btCollisionShape*> m_childShapes; public: - btGImpactCompoundShape(bool children_has_transform = true) { - (void) children_has_transform; + (void)children_has_transform; m_primitive_manager.m_compoundShape = this; m_box_set.setPrimitiveManager(&m_primitive_manager); } @@ -388,36 +367,33 @@ public: { } - //! if true, then its children must get transforms. virtual bool childrenHasTransform() const { - if(m_childTransforms.size()==0) return false; + if (m_childTransforms.size() == 0) return false; return true; } - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const + virtual const btPrimitiveManagerBase* getPrimitiveManager() const { return &m_primitive_manager; } //! Obtains the compopund primitive manager - SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager() + SIMD_FORCE_INLINE CompoundPrimitiveManager* getCompoundPrimitiveManager() { return &m_primitive_manager; } //! Gets the number of children - virtual int getNumChildShapes() const + virtual int getNumChildShapes() const { return m_childShapes.size(); } - //! Use this method for adding children. Only Convex shapes are allowed. - void addChildShape(const btTransform& localTransform,btCollisionShape* shape) + void addChildShape(const btTransform& localTransform, btCollisionShape* shape) { btAssert(shape->isConvex()); m_childTransforms.push_back(localTransform); @@ -444,24 +420,22 @@ public: } //! Retrieves the bound from a child - /*! + /*! */ - virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const - { - - if(childrenHasTransform()) - { - m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax); - } - else - { - m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax); - } - } - + virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const + { + if (childrenHasTransform()) + { + m_childShapes[child_index]->getAabb(t * m_childTransforms[child_index], aabbMin, aabbMax); + } + else + { + m_childShapes[child_index]->getAabb(t, aabbMin, aabbMax); + } + } //! Gets the children transform - virtual btTransform getChildTransform(int index) const + virtual btTransform getChildTransform(int index) const { btAssert(m_childTransforms.size() == m_childShapes.size()); return m_childTransforms[index]; @@ -471,7 +445,7 @@ public: /*! \post You must call updateBound() for update the box set. */ - virtual void setChildTransform(int index, const btTransform & transform) + virtual void setChildTransform(int index, const btTransform& transform) { btAssert(m_childTransforms.size() == m_childShapes.size()); m_childTransforms[index] = transform; @@ -490,24 +464,24 @@ public: return false; } - - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const { - (void) prim_index; (void) triangle; + (void)prim_index; + (void)triangle; btAssert(0); } - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const { - (void) prim_index; (void) tetrahedron; + (void)prim_index; + (void)tetrahedron; btAssert(0); } - //! Calculates the exact inertia tensor for this shape - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const; - virtual const char* getName()const + virtual const char* getName() const { return "GImpactCompound"; } @@ -516,11 +490,8 @@ public: { return CONST_GIMPACT_COMPOUND_SHAPE; } - }; - - //! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface. /*! - Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh @@ -535,21 +506,21 @@ public: /*! Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism */ - class TrimeshPrimitiveManager:public btPrimitiveManagerBase + class TrimeshPrimitiveManager : public btPrimitiveManagerBase { public: btScalar m_margin; - btStridingMeshInterface * m_meshInterface; + btStridingMeshInterface* m_meshInterface; btVector3 m_scale; int m_part; int m_lock_count; - const unsigned char *vertexbase; + const unsigned char* vertexbase; int numverts; PHY_ScalarType type; int stride; - const unsigned char *indexbase; + const unsigned char* indexbase; int indexstride; - int numfaces; + int numfaces; PHY_ScalarType indicestype; TrimeshPrimitiveManager() @@ -557,7 +528,7 @@ public: m_meshInterface = NULL; m_part = 0; m_margin = 0.01f; - m_scale = btVector3(1.f,1.f,1.f); + m_scale = btVector3(1.f, 1.f, 1.f); m_lock_count = 0; vertexbase = 0; numverts = 0; @@ -567,8 +538,8 @@ public: numfaces = 0; } - TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager) - : btPrimitiveManagerBase() + TrimeshPrimitiveManager(const TrimeshPrimitiveManager& manager) + : btPrimitiveManagerBase() { m_meshInterface = manager.m_meshInterface; m_part = manager.m_part; @@ -581,11 +552,10 @@ public: indexbase = 0; indexstride = 0; numfaces = 0; - } TrimeshPrimitiveManager( - btStridingMeshInterface * meshInterface, int part) + btStridingMeshInterface* meshInterface, int part) { m_meshInterface = meshInterface; m_part = part; @@ -598,29 +568,28 @@ public: indexbase = 0; indexstride = 0; numfaces = 0; - } virtual ~TrimeshPrimitiveManager() {} void lock() { - if(m_lock_count>0) + if (m_lock_count > 0) { m_lock_count++; return; } m_meshInterface->getLockedReadOnlyVertexIndexBase( - &vertexbase,numverts, - type, stride,&indexbase, indexstride, numfaces,indicestype,m_part); + &vertexbase, numverts, + type, stride, &indexbase, indexstride, numfaces, indicestype, m_part); m_lock_count = 1; } void unlock() { - if(m_lock_count == 0) return; - if(m_lock_count>1) + if (m_lock_count == 0) return; + if (m_lock_count > 1) { --m_lock_count; return; @@ -637,93 +606,91 @@ public: virtual int get_primitive_count() const { - return (int )numfaces; + return (int)numfaces; } SIMD_FORCE_INLINE int get_vertex_count() const { - return (int )numverts; + return (int)numverts; } - SIMD_FORCE_INLINE void get_indices(int face_index,unsigned int &i0,unsigned int &i1,unsigned int &i2) const + SIMD_FORCE_INLINE void get_indices(int face_index, unsigned int& i0, unsigned int& i1, unsigned int& i2) const { - if(indicestype == PHY_SHORT) + if (indicestype == PHY_SHORT) { - unsigned short* s_indices = (unsigned short *)(indexbase + face_index * indexstride); + unsigned short* s_indices = (unsigned short*)(indexbase + face_index * indexstride); i0 = s_indices[0]; i1 = s_indices[1]; i2 = s_indices[2]; } else { - unsigned int * i_indices = (unsigned int *)(indexbase + face_index*indexstride); + unsigned int* i_indices = (unsigned int*)(indexbase + face_index * indexstride); i0 = i_indices[0]; i1 = i_indices[1]; i2 = i_indices[2]; } } - SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3 & vertex) const + SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3& vertex) const { - if(type == PHY_DOUBLE) + if (type == PHY_DOUBLE) { - double * dvertices = (double *)(vertexbase + vertex_index*stride); - vertex[0] = btScalar(dvertices[0]*m_scale[0]); - vertex[1] = btScalar(dvertices[1]*m_scale[1]); - vertex[2] = btScalar(dvertices[2]*m_scale[2]); + double* dvertices = (double*)(vertexbase + vertex_index * stride); + vertex[0] = btScalar(dvertices[0] * m_scale[0]); + vertex[1] = btScalar(dvertices[1] * m_scale[1]); + vertex[2] = btScalar(dvertices[2] * m_scale[2]); } else { - float * svertices = (float *)(vertexbase + vertex_index*stride); - vertex[0] = svertices[0]*m_scale[0]; - vertex[1] = svertices[1]*m_scale[1]; - vertex[2] = svertices[2]*m_scale[2]; + float* svertices = (float*)(vertexbase + vertex_index * stride); + vertex[0] = svertices[0] * m_scale[0]; + vertex[1] = svertices[1] * m_scale[1]; + vertex[2] = svertices[2] * m_scale[2]; } } - virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + virtual void get_primitive_box(int prim_index, btAABB& primbox) const { - btPrimitiveTriangle triangle; - get_primitive_triangle(prim_index,triangle); + btPrimitiveTriangle triangle; + get_primitive_triangle(prim_index, triangle); primbox.calc_from_triangle_margin( triangle.m_vertices[0], - triangle.m_vertices[1],triangle.m_vertices[2],triangle.m_margin); + triangle.m_vertices[1], triangle.m_vertices[2], triangle.m_margin); } - virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const { unsigned int indices[3]; - get_indices(prim_index,indices[0],indices[1],indices[2]); - get_vertex(indices[0],triangle.m_vertices[0]); - get_vertex(indices[1],triangle.m_vertices[1]); - get_vertex(indices[2],triangle.m_vertices[2]); + get_indices(prim_index, indices[0], indices[1], indices[2]); + get_vertex(indices[0], triangle.m_vertices[0]); + get_vertex(indices[1], triangle.m_vertices[1]); + get_vertex(indices[2], triangle.m_vertices[2]); triangle.m_margin = m_margin; } - SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const + SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index, btTriangleShapeEx& triangle) const { unsigned int indices[3]; - get_indices(prim_index,indices[0],indices[1],indices[2]); - get_vertex(indices[0],triangle.m_vertices1[0]); - get_vertex(indices[1],triangle.m_vertices1[1]); - get_vertex(indices[2],triangle.m_vertices1[2]); + get_indices(prim_index, indices[0], indices[1], indices[2]); + get_vertex(indices[0], triangle.m_vertices1[0]); + get_vertex(indices[1], triangle.m_vertices1[1]); + get_vertex(indices[2], triangle.m_vertices1[2]); triangle.setMargin(m_margin); } - }; - protected: TrimeshPrimitiveManager m_primitive_manager; -public: +public: btGImpactMeshShapePart() { m_box_set.setPrimitiveManager(&m_primitive_manager); } - btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part ); - virtual ~btGImpactMeshShapePart(); + btGImpactMeshShapePart(btStridingMeshInterface* meshInterface, int part); + virtual ~btGImpactMeshShapePart(); //! if true, then its children must get transforms. virtual bool childrenHasTransform() const @@ -731,40 +698,36 @@ public: return false; } - //! call when reading child shapes - virtual void lockChildShapes() const; - virtual void unlockChildShapes() const; + virtual void lockChildShapes() const; + virtual void unlockChildShapes() const; //! Gets the number of children - virtual int getNumChildShapes() const + virtual int getNumChildShapes() const { return m_primitive_manager.get_primitive_count(); } - //! Gets the children virtual btCollisionShape* getChildShape(int index) { - (void) index; + (void)index; btAssert(0); return NULL; } - - //! Gets the child virtual const btCollisionShape* getChildShape(int index) const { - (void) index; + (void)index; btAssert(0); return NULL; } //! Gets the children transform - virtual btTransform getChildTransform(int index) const + virtual btTransform getChildTransform(int index) const { - (void) index; + (void)index; btAssert(0); return btTransform(); } @@ -773,35 +736,27 @@ public: /*! \post You must call updateBound() for update the box set. */ - virtual void setChildTransform(int index, const btTransform & transform) + virtual void setChildTransform(int index, const btTransform& transform) { - (void) index; - (void) transform; + (void)index; + (void)transform; btAssert(0); } - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const + virtual const btPrimitiveManagerBase* getPrimitiveManager() const { return &m_primitive_manager; } - SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager() + SIMD_FORCE_INLINE TrimeshPrimitiveManager* getTrimeshPrimitiveManager() { return &m_primitive_manager; } + virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const; - - - - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - - - - - virtual const char* getName()const + virtual const char* getName() const { return "GImpactMeshShapePart"; } @@ -823,61 +778,58 @@ public: return false; } - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const { - m_primitive_manager.get_bullet_triangle(prim_index,triangle); + m_primitive_manager.get_bullet_triangle(prim_index, triangle); } - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const { - (void) prim_index; - (void) tetrahedron; + (void)prim_index; + (void)tetrahedron; btAssert(0); } - - SIMD_FORCE_INLINE int getVertexCount() const { return m_primitive_manager.get_vertex_count(); } - SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3 & vertex) const + SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3& vertex) const { - m_primitive_manager.get_vertex(vertex_index,vertex); + m_primitive_manager.get_vertex(vertex_index, vertex); } SIMD_FORCE_INLINE void setMargin(btScalar margin) - { - m_primitive_manager.m_margin = margin; - postUpdate(); - } - - SIMD_FORCE_INLINE btScalar getMargin() const - { - return m_primitive_manager.m_margin; - } - - virtual void setLocalScaling(const btVector3& scaling) - { - m_primitive_manager.m_scale = scaling; - postUpdate(); - } - - virtual const btVector3& getLocalScaling() const - { - return m_primitive_manager.m_scale; - } - - SIMD_FORCE_INLINE int getPart() const - { - return (int)m_primitive_manager.m_part; - } - - virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; - virtual void processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const; -}; + { + m_primitive_manager.m_margin = margin; + postUpdate(); + } + + SIMD_FORCE_INLINE btScalar getMargin() const + { + return m_primitive_manager.m_margin; + } + + virtual void setLocalScaling(const btVector3& scaling) + { + m_primitive_manager.m_scale = scaling; + postUpdate(); + } + + virtual const btVector3& getLocalScaling() const + { + return m_primitive_manager.m_scale; + } + SIMD_FORCE_INLINE int getPart() const + { + return (int)m_primitive_manager.m_part; + } + + virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const; + virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const; +}; //! This class manages a mesh supplied by the btStridingMeshInterface interface. /*! @@ -893,29 +845,29 @@ class btGImpactMeshShape : public btGImpactShapeInterface protected: btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts; - void buildMeshParts(btStridingMeshInterface * meshInterface) + void buildMeshParts(btStridingMeshInterface* meshInterface) { - for (int i=0;i<meshInterface->getNumSubParts() ;++i ) + for (int i = 0; i < meshInterface->getNumSubParts(); ++i) { - btGImpactMeshShapePart * newpart = new btGImpactMeshShapePart(meshInterface,i); + btGImpactMeshShapePart* newpart = new btGImpactMeshShapePart(meshInterface, i); m_mesh_parts.push_back(newpart); } } //! use this function for perfofm refit in bounding boxes - virtual void calcLocalAABB() - { - m_localAABB.invalidate(); - int i = m_mesh_parts.size(); - while(i--) - { - m_mesh_parts[i]->updateBound(); - m_localAABB.merge(m_mesh_parts[i]->getLocalBox()); - } - } + virtual void calcLocalAABB() + { + m_localAABB.invalidate(); + int i = m_mesh_parts.size(); + while (i--) + { + m_mesh_parts[i]->updateBound(); + m_localAABB.merge(m_mesh_parts[i]->getLocalBox()); + } + } public: - btGImpactMeshShape(btStridingMeshInterface * meshInterface) + btGImpactMeshShape(btStridingMeshInterface* meshInterface) { m_meshInterface = meshInterface; buildMeshParts(meshInterface); @@ -924,15 +876,14 @@ public: virtual ~btGImpactMeshShape() { int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; + while (i--) + { + btGImpactMeshShapePart* part = m_mesh_parts[i]; delete part; - } + } m_mesh_parts.clear(); } - btStridingMeshInterface* getMeshInterface() { return m_meshInterface; @@ -948,79 +899,73 @@ public: return m_mesh_parts.size(); } - btGImpactMeshShapePart * getMeshPart(int index) + btGImpactMeshShapePart* getMeshPart(int index) { return m_mesh_parts[index]; } - - - const btGImpactMeshShapePart * getMeshPart(int index) const + const btGImpactMeshShapePart* getMeshPart(int index) const { return m_mesh_parts[index]; } - - virtual void setLocalScaling(const btVector3& scaling) + virtual void setLocalScaling(const btVector3& scaling) { localScaling = scaling; int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; + while (i--) + { + btGImpactMeshShapePart* part = m_mesh_parts[i]; part->setLocalScaling(scaling); - } + } m_needs_update = true; } virtual void setMargin(btScalar margin) - { - m_collisionMargin = margin; + { + m_collisionMargin = margin; int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; + while (i--) + { + btGImpactMeshShapePart* part = m_mesh_parts[i]; part->setMargin(margin); - } + } m_needs_update = true; - } + } //! Tells to this object that is needed to refit all the meshes - virtual void postUpdate() - { + virtual void postUpdate() + { int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; + while (i--) + { + btGImpactMeshShapePart* part = m_mesh_parts[i]; part->postUpdate(); - } - - m_needs_update = true; - } + } - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + m_needs_update = true; + } + virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const; //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const + virtual const btPrimitiveManagerBase* getPrimitiveManager() const { btAssert(0); return NULL; } - //! Gets the number of children - virtual int getNumChildShapes() const + virtual int getNumChildShapes() const { btAssert(0); return 0; } - //! if true, then its children must get transforms. virtual bool childrenHasTransform() const { @@ -1042,15 +987,17 @@ public: return false; } - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const { - (void) prim_index; (void) triangle; + (void)prim_index; + (void)triangle; btAssert(0); } - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const { - (void) prim_index; (void) tetrahedron; + (void)prim_index; + (void)tetrahedron; btAssert(0); } @@ -1065,39 +1012,38 @@ public: btAssert(0); } - - - //! Retrieves the bound from a child - /*! + /*! */ - virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const - { - (void) child_index; (void) t; (void) aabbMin; (void) aabbMax; - btAssert(0); - } + virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const + { + (void)child_index; + (void)t; + (void)aabbMin; + (void)aabbMax; + btAssert(0); + } //! Gets the children virtual btCollisionShape* getChildShape(int index) { - (void) index; + (void)index; btAssert(0); return NULL; } - //! Gets the child virtual const btCollisionShape* getChildShape(int index) const { - (void) index; + (void)index; btAssert(0); return NULL; } //! Gets the children transform - virtual btTransform getChildTransform(int index) const + virtual btTransform getChildTransform(int index) const { - (void) index; + (void)index; btAssert(0); return btTransform(); } @@ -1106,59 +1052,56 @@ public: /*! \post You must call updateBound() for update the box set. */ - virtual void setChildTransform(int index, const btTransform & transform) + virtual void setChildTransform(int index, const btTransform& transform) { - (void) index; (void) transform; + (void)index; + (void)transform; btAssert(0); } - virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const { return CONST_GIMPACT_TRIMESH_SHAPE; } - - virtual const char* getName()const + virtual const char* getName() const { return "GImpactMesh"; } - virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const; + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const; //! Function for retrieve triangles. /*! It gives the triangles in local space */ - virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const; - virtual void processAllTrianglesRay (btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const; + virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const; - virtual int calculateSerializeBufferSize() const; + 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 const char* serialize(void* dataBuffer, btSerializer* serializer) const; }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btGImpactMeshShapeData +struct btGImpactMeshShapeData { - btCollisionShapeData m_collisionShapeData; + btCollisionShapeData m_collisionShapeData; btStridingMeshInterfaceData m_meshInterface; - btVector3FloatData m_localScaling; + btVector3FloatData m_localScaling; - float m_collisionMargin; + float m_collisionMargin; - int m_gimpactSubType; + int m_gimpactSubType; }; -SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const { return sizeof(btGImpactMeshShapeData); } - -#endif //GIMPACT_MESH_SHAPE_H +#endif //GIMPACT_MESH_SHAPE_H |