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_COLLISION_SHAPE_H
17 #define BT_COLLISION_SHAPE_H
18
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btMatrix3x3.h"
22 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
23 class btSerializer;
24
25
26 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
27 class btCollisionShape
28 {
29 protected:
30 int m_shapeType;
31 void* m_userPointer;
32
33 public:
34
btCollisionShape()35 btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
36 {
37 }
38
~btCollisionShape()39 virtual ~btCollisionShape()
40 {
41 }
42
43 ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
44 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
45
46 virtual void getBoundingSphere(btVector3& center,btScalar& radius) const;
47
48 ///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
49 virtual btScalar getAngularMotionDisc() const;
50
51 virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
52
53
54 ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
55 ///result is conservative
56 void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
57
58
59
isPolyhedral()60 SIMD_FORCE_INLINE bool isPolyhedral() const
61 {
62 return btBroadphaseProxy::isPolyhedral(getShapeType());
63 }
64
isConvex2d()65 SIMD_FORCE_INLINE bool isConvex2d() const
66 {
67 return btBroadphaseProxy::isConvex2d(getShapeType());
68 }
69
isConvex()70 SIMD_FORCE_INLINE bool isConvex() const
71 {
72 return btBroadphaseProxy::isConvex(getShapeType());
73 }
isNonMoving()74 SIMD_FORCE_INLINE bool isNonMoving() const
75 {
76 return btBroadphaseProxy::isNonMoving(getShapeType());
77 }
isConcave()78 SIMD_FORCE_INLINE bool isConcave() const
79 {
80 return btBroadphaseProxy::isConcave(getShapeType());
81 }
isCompound()82 SIMD_FORCE_INLINE bool isCompound() const
83 {
84 return btBroadphaseProxy::isCompound(getShapeType());
85 }
86
isSoftBody()87 SIMD_FORCE_INLINE bool isSoftBody() const
88 {
89 return btBroadphaseProxy::isSoftBody(getShapeType());
90 }
91
92 ///isInfinite is used to catch simulation error (aabb check)
isInfinite()93 SIMD_FORCE_INLINE bool isInfinite() const
94 {
95 return btBroadphaseProxy::isInfinite(getShapeType());
96 }
97
98 #ifndef __SPU__
99 virtual void setLocalScaling(const btVector3& scaling) =0;
100 virtual const btVector3& getLocalScaling() const =0;
101 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
102
103
104 //debugging support
105 virtual const char* getName()const =0 ;
106 #endif //__SPU__
107
108
getShapeType()109 int getShapeType() const { return m_shapeType; }
110 virtual void setMargin(btScalar margin) = 0;
111 virtual btScalar getMargin() const = 0;
112
113
114 ///optional user data pointer
setUserPointer(void * userPtr)115 void setUserPointer(void* userPtr)
116 {
117 m_userPointer = userPtr;
118 }
119
getUserPointer()120 void* getUserPointer() const
121 {
122 return m_userPointer;
123 }
124
125 virtual int calculateSerializeBufferSize() const;
126
127 ///fills the dataBuffer and returns the struct name (and 0 on failure)
128 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
129
130 virtual void serializeSingleShape(btSerializer* serializer) const;
131
132 };
133
134 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
135 struct btCollisionShapeData
136 {
137 char *m_name;
138 int m_shapeType;
139 char m_padding[4];
140 };
141
calculateSerializeBufferSize()142 SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
143 {
144 return sizeof(btCollisionShapeData);
145 }
146
147
148
149 #endif //BT_COLLISION_SHAPE_H
150
151