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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/Gimpact/btGImpactShape.h')
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diff --git a/thirdparty/bullet/src/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/src/BulletCollision/Gimpact/btGImpactShape.h deleted file mode 100644 index 9d7e40562c..0000000000 --- a/thirdparty/bullet/src/BulletCollision/Gimpact/btGImpactShape.h +++ /dev/null @@ -1,1164 +0,0 @@ -/*! \file btGImpactShape.h -\author Francisco Len Nßjera -*/ -/* -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - -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 GIMPACT_SHAPE_H -#define GIMPACT_SHAPE_H - -#include "BulletCollision/CollisionShapes/btCollisionShape.h" -#include "BulletCollision/CollisionShapes/btTriangleShape.h" -#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h" -#include "BulletCollision/CollisionShapes/btCollisionMargin.h" -#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" -#include "BulletCollision/CollisionShapes/btConcaveShape.h" -#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" -#include "LinearMath/btVector3.h" -#include "LinearMath/btTransform.h" -#include "LinearMath/btMatrix3x3.h" -#include "LinearMath/btAlignedObjectArray.h" - -#include "btGImpactQuantizedBvh.h" // box tree class - - -//! declare Quantized trees, (you can change to float based trees) -typedef btGImpactQuantizedBvh btGImpactBoxSet; - -enum eGIMPACT_SHAPE_TYPE -{ - CONST_GIMPACT_COMPOUND_SHAPE = 0, - CONST_GIMPACT_TRIMESH_SHAPE_PART, - CONST_GIMPACT_TRIMESH_SHAPE -}; - - - -//! Helper class for tetrahedrons -class btTetrahedronShapeEx:public btBU_Simplex1to4 -{ -public: - btTetrahedronShapeEx() - { - m_numVertices = 4; - } - - - SIMD_FORCE_INLINE void setVertices( - const btVector3 & v0,const btVector3 & v1, - const btVector3 & v2,const btVector3 & v3) - { - m_vertices[0] = v0; - m_vertices[1] = v1; - m_vertices[2] = v2; - m_vertices[3] = v3; - recalcLocalAabb(); - } -}; - - -//! 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 - - //! use this function for perfofm refit in bounding boxes - //! 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(); - } - - -public: - btGImpactShapeInterface() - { - m_shapeType=GIMPACT_SHAPE_PROXYTYPE; - m_localAABB.invalidate(); - m_needs_update = true; - localScaling.setValue(1.f,1.f,1.f); - } - - - //! performs refit operation - /*! - Updates the entire Box set of this shape. - \pre postUpdate() must be called for attemps to calculating the box set, else this function - 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. - /*! - \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; - } - - //! Obtains the local box, which is the global calculated box of the total of subshapes - SIMD_FORCE_INLINE const btAABB & getLocalBox() - { - return m_localAABB; - } - - - virtual int getShapeType() const - { - return GIMPACT_SHAPE_PROXYTYPE; - } - - /*! - \post You must call updateBound() for update the box set. - */ - virtual void setLocalScaling(const btVector3& scaling) - { - localScaling = scaling; - postUpdate(); - } - - virtual const btVector3& getLocalScaling() const - { - return localScaling; - } - - - virtual void setMargin(btScalar margin) - { - 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 ; - - //! gets boxset - 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 - { - if(m_box_set.getNodeCount() == 0) return false; - return true; - } - - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const = 0; - - - //! Gets the number of children - virtual int getNumChildShapes() const = 0; - - //! if true, then its children must get transforms. - virtual bool childrenHasTransform() const = 0; - - //! Determines if this shape has triangles - virtual bool needsRetrieveTriangles() const = 0; - - //! 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; - - - - //! call when reading child shapes - virtual void lockChildShapes() const - { - } - - virtual void unlockChildShapes() const - { - } - - //! if this trimesh - SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const - { - 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; - } - - //! 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; - - //! Sets the children transform - /*! - \post You must call updateBound() for update the box set. - */ - 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 - { - (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 - { - (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 - { - - } - - //!@} - -}; - - -//! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once -/*! -This class only can manage Convex subshapes -*/ -class btGImpactCompoundShape : public btGImpactShapeInterface -{ -public: - //! compound primitive manager - class CompoundPrimitiveManager:public btPrimitiveManagerBase - { - public: - virtual ~CompoundPrimitiveManager() {} - btGImpactCompoundShape * m_compoundShape; - - - CompoundPrimitiveManager(const CompoundPrimitiveManager& compound) - : btPrimitiveManagerBase() - { - m_compoundShape = compound.m_compoundShape; - } - - CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape) - { - m_compoundShape = compoundShape; - } - - CompoundPrimitiveManager() - { - m_compoundShape = NULL; - } - - virtual bool is_trimesh() const - { - return false; - } - - virtual int get_primitive_count() const - { - return (int )m_compoundShape->getNumChildShapes(); - } - - virtual void get_primitive_box(int prim_index ,btAABB & primbox) const - { - btTransform prim_trans; - if(m_compoundShape->childrenHasTransform()) - { - prim_trans = m_compoundShape->getChildTransform(prim_index); - } - else - { - prim_trans.setIdentity(); - } - const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index); - shape->getAabb(prim_trans,primbox.m_min,primbox.m_max); - } - - virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const - { - btAssert(0); - (void) prim_index; (void) triangle; - } - - }; - - - -protected: - CompoundPrimitiveManager m_primitive_manager; - btAlignedObjectArray<btTransform> m_childTransforms; - btAlignedObjectArray<btCollisionShape*> m_childShapes; - - -public: - - btGImpactCompoundShape(bool children_has_transform = true) - { - (void) children_has_transform; - m_primitive_manager.m_compoundShape = this; - m_box_set.setPrimitiveManager(&m_primitive_manager); - } - - virtual ~btGImpactCompoundShape() - { - } - - - //! if true, then its children must get transforms. - virtual bool childrenHasTransform() const - { - if(m_childTransforms.size()==0) return false; - return true; - } - - - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const - { - return &m_primitive_manager; - } - - //! Obtains the compopund primitive manager - SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager() - { - return &m_primitive_manager; - } - - //! Gets the number of children - 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) - { - btAssert(shape->isConvex()); - m_childTransforms.push_back(localTransform); - m_childShapes.push_back(shape); - } - - //! Use this method for adding children. Only Convex shapes are allowed. - void addChildShape(btCollisionShape* shape) - { - btAssert(shape->isConvex()); - m_childShapes.push_back(shape); - } - - //! Gets the children - virtual btCollisionShape* getChildShape(int index) - { - return m_childShapes[index]; - } - - //! Gets the children - virtual const btCollisionShape* getChildShape(int index) const - { - return m_childShapes[index]; - } - - //! 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); - } - } - - - //! Gets the children transform - virtual btTransform getChildTransform(int index) const - { - btAssert(m_childTransforms.size() == m_childShapes.size()); - return m_childTransforms[index]; - } - - //! Sets the children transform - /*! - \post You must call updateBound() for update the box set. - */ - virtual void setChildTransform(int index, const btTransform & transform) - { - btAssert(m_childTransforms.size() == m_childShapes.size()); - m_childTransforms[index] = transform; - postUpdate(); - } - - //! Determines if this shape has triangles - virtual bool needsRetrieveTriangles() const - { - return false; - } - - //! Determines if this shape has tetrahedrons - virtual bool needsRetrieveTetrahedrons() const - { - return false; - } - - - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const - { - (void) prim_index; (void) triangle; - btAssert(0); - } - - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const - { - (void) prim_index; (void) tetrahedron; - btAssert(0); - } - - - //! Calculates the exact inertia tensor for this shape - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - - virtual const char* getName()const - { - return "GImpactCompound"; - } - - virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const - { - 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 -- When making operations with this shape, you must call <b>lock</b> before accessing to the trimesh primitives, and then call <b>unlock</b> -- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. - -*/ -class btGImpactMeshShapePart : public btGImpactShapeInterface -{ -public: - //! Trimesh primitive manager - /*! - Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism - */ - class TrimeshPrimitiveManager:public btPrimitiveManagerBase - { - public: - btScalar m_margin; - btStridingMeshInterface * m_meshInterface; - btVector3 m_scale; - int m_part; - int m_lock_count; - const unsigned char *vertexbase; - int numverts; - PHY_ScalarType type; - int stride; - const unsigned char *indexbase; - int indexstride; - int numfaces; - PHY_ScalarType indicestype; - - TrimeshPrimitiveManager() - { - m_meshInterface = NULL; - m_part = 0; - m_margin = 0.01f; - m_scale = btVector3(1.f,1.f,1.f); - m_lock_count = 0; - vertexbase = 0; - numverts = 0; - stride = 0; - indexbase = 0; - indexstride = 0; - numfaces = 0; - } - - TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager) - : btPrimitiveManagerBase() - { - m_meshInterface = manager.m_meshInterface; - m_part = manager.m_part; - m_margin = manager.m_margin; - m_scale = manager.m_scale; - m_lock_count = 0; - vertexbase = 0; - numverts = 0; - stride = 0; - indexbase = 0; - indexstride = 0; - numfaces = 0; - - } - - TrimeshPrimitiveManager( - btStridingMeshInterface * meshInterface, int part) - { - m_meshInterface = meshInterface; - m_part = part; - m_scale = m_meshInterface->getScaling(); - m_margin = 0.1f; - m_lock_count = 0; - vertexbase = 0; - numverts = 0; - stride = 0; - indexbase = 0; - indexstride = 0; - numfaces = 0; - - } - - virtual ~TrimeshPrimitiveManager() {} - - void lock() - { - if(m_lock_count>0) - { - m_lock_count++; - return; - } - m_meshInterface->getLockedReadOnlyVertexIndexBase( - &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) - { - --m_lock_count; - return; - } - m_meshInterface->unLockReadOnlyVertexBase(m_part); - vertexbase = NULL; - m_lock_count = 0; - } - - virtual bool is_trimesh() const - { - return true; - } - - virtual int get_primitive_count() const - { - return (int )numfaces; - } - - SIMD_FORCE_INLINE int get_vertex_count() const - { - return (int )numverts; - } - - SIMD_FORCE_INLINE void get_indices(int face_index,unsigned int &i0,unsigned int &i1,unsigned int &i2) const - { - if(indicestype == PHY_SHORT) - { - 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); - 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 - { - 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]); - } - 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]; - } - } - - virtual void get_primitive_box(int prim_index ,btAABB & primbox) const - { - 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); - } - - 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]); - triangle.m_margin = m_margin; - } - - 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]); - triangle.setMargin(m_margin); - } - - }; - - -protected: - TrimeshPrimitiveManager m_primitive_manager; -public: - - btGImpactMeshShapePart() - { - m_box_set.setPrimitiveManager(&m_primitive_manager); - } - - btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part ); - virtual ~btGImpactMeshShapePart(); - - //! if true, then its children must get transforms. - virtual bool childrenHasTransform() const - { - return false; - } - - - //! call when reading child shapes - virtual void lockChildShapes() const; - virtual void unlockChildShapes() const; - - //! Gets the number of children - virtual int getNumChildShapes() const - { - return m_primitive_manager.get_primitive_count(); - } - - - //! Gets the children - virtual btCollisionShape* getChildShape(int index) - { - (void) index; - btAssert(0); - return NULL; - } - - - - //! Gets the child - virtual const btCollisionShape* getChildShape(int index) const - { - (void) index; - btAssert(0); - return NULL; - } - - //! Gets the children transform - virtual btTransform getChildTransform(int index) const - { - (void) index; - btAssert(0); - return btTransform(); - } - - //! Sets the children transform - /*! - \post You must call updateBound() for update the box set. - */ - virtual void setChildTransform(int index, const btTransform & transform) - { - (void) index; - (void) transform; - btAssert(0); - } - - - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const - { - return &m_primitive_manager; - } - - SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager() - { - return &m_primitive_manager; - } - - - - - - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - - - - - virtual const char* getName()const - { - return "GImpactMeshShapePart"; - } - - virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const - { - return CONST_GIMPACT_TRIMESH_SHAPE_PART; - } - - //! Determines if this shape has triangles - virtual bool needsRetrieveTriangles() const - { - return true; - } - - //! Determines if this shape has tetrahedrons - virtual bool needsRetrieveTetrahedrons() const - { - return false; - } - - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const - { - m_primitive_manager.get_bullet_triangle(prim_index,triangle); - } - - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const - { - (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 - { - 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; -}; - - -//! This class manages a mesh supplied by the btStridingMeshInterface interface. -/*! -Set of btGImpactMeshShapePart parts -- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShape, then you must call updateBound() after creating the mesh - -- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. - -*/ -class btGImpactMeshShape : public btGImpactShapeInterface -{ - btStridingMeshInterface* m_meshInterface; - -protected: - btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts; - void buildMeshParts(btStridingMeshInterface * meshInterface) - { - for (int i=0;i<meshInterface->getNumSubParts() ;++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()); - } - } - -public: - btGImpactMeshShape(btStridingMeshInterface * meshInterface) - { - m_meshInterface = meshInterface; - buildMeshParts(meshInterface); - } - - virtual ~btGImpactMeshShape() - { - int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; - delete part; - } - m_mesh_parts.clear(); - } - - - btStridingMeshInterface* getMeshInterface() - { - return m_meshInterface; - } - - const btStridingMeshInterface* getMeshInterface() const - { - return m_meshInterface; - } - - int getMeshPartCount() const - { - return m_mesh_parts.size(); - } - - btGImpactMeshShapePart * getMeshPart(int index) - { - return m_mesh_parts[index]; - } - - - - const btGImpactMeshShapePart * getMeshPart(int index) const - { - return m_mesh_parts[index]; - } - - - virtual void setLocalScaling(const btVector3& scaling) - { - localScaling = scaling; - - int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; - part->setLocalScaling(scaling); - } - - m_needs_update = true; - } - - virtual void setMargin(btScalar margin) - { - m_collisionMargin = margin; - - int i = m_mesh_parts.size(); - 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() - { - int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; - part->postUpdate(); - } - - m_needs_update = true; - } - - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - - - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const - { - btAssert(0); - return NULL; - } - - - //! Gets the number of children - virtual int getNumChildShapes() const - { - btAssert(0); - return 0; - } - - - //! if true, then its children must get transforms. - virtual bool childrenHasTransform() const - { - btAssert(0); - return false; - } - - //! Determines if this shape has triangles - virtual bool needsRetrieveTriangles() const - { - btAssert(0); - return false; - } - - //! Determines if this shape has tetrahedrons - virtual bool needsRetrieveTetrahedrons() const - { - btAssert(0); - return false; - } - - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const - { - (void) prim_index; (void) triangle; - btAssert(0); - } - - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const - { - (void) prim_index; (void) tetrahedron; - btAssert(0); - } - - //! call when reading child shapes - virtual void lockChildShapes() const - { - btAssert(0); - } - - virtual void unlockChildShapes() const - { - 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); - } - - //! Gets the children - virtual btCollisionShape* getChildShape(int index) - { - (void) index; - btAssert(0); - return NULL; - } - - - //! Gets the child - virtual const btCollisionShape* getChildShape(int index) const - { - (void) index; - btAssert(0); - return NULL; - } - - //! Gets the children transform - virtual btTransform getChildTransform(int index) const - { - (void) index; - btAssert(0); - return btTransform(); - } - - //! Sets the children transform - /*! - \post You must call updateBound() for update the box set. - */ - virtual void setChildTransform(int index, const btTransform & transform) - { - (void) index; (void) transform; - btAssert(0); - } - - - virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const - { - return CONST_GIMPACT_TRIMESH_SHAPE; - } - - - virtual const char* getName()const - { - return "GImpactMesh"; - } - - 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 processAllTrianglesRay (btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) 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; - -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btGImpactMeshShapeData -{ - btCollisionShapeData m_collisionShapeData; - - btStridingMeshInterfaceData m_meshInterface; - - btVector3FloatData m_localScaling; - - float m_collisionMargin; - - int m_gimpactSubType; -}; - -SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const -{ - return sizeof(btGImpactMeshShapeData); -} - - -#endif //GIMPACT_MESH_SHAPE_H |