Bullet Collision Detection & Physics Library: btPolyhedralConvexShape.h Source File

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btPolyhedralConvexShape.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
17#define BT_POLYHEDRAL_CONVEX_SHAPE_H
18
19#include "LinearMath/btMatrix3x3.h"
20#include "btConvexInternalShape.h"
21class btConvexPolyhedron;
22
24 ATTRIBUTE_ALIGNED16(class)
25 btPolyhedralConvexShape : public btConvexInternalShape
26{
27protected:
28 btConvexPolyhedron* m_polyhedron;
29
30public:
31 BT_DECLARE_ALIGNED_ALLOCATOR();
32
33 btPolyhedralConvexShape();
34
35 virtual ~btPolyhedralConvexShape();
36
39 virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin = 0);
40
41 virtual void setPolyhedralFeatures(btConvexPolyhedron & polyhedron);
42
43 const btConvexPolyhedron* getConvexPolyhedron() const
44 {
45 return m_polyhedron;
46 }
47
48 //brute force implementations
49
50 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
51 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
52
53 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
54
55 virtual int getNumVertices() const = 0;
56 virtual int getNumEdges() const = 0;
57 virtual void getEdge(int i, btVector3& pa, btVector3& pb) const = 0;
58 virtual void getVertex(int i, btVector3& vtx) const = 0;
59 virtual int getNumPlanes() const = 0;
60 virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const = 0;
61 // virtual int getIndex(int i) const = 0 ;
62
63 virtual bool isInside(const btVector3& pt, btScalar tolerance) const = 0;
64};
65
67 class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
68{
69 btVector3 m_localAabbMin;
70 btVector3 m_localAabbMax;
71 bool m_isLocalAabbValid;
72
73protected:
74 void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
75 {
76 m_isLocalAabbValid = true;
77 m_localAabbMin = aabbMin;
78 m_localAabbMax = aabbMax;
79 }
80
81 inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
82 {
83 btAssert(m_isLocalAabbValid);
84 aabbMin = m_localAabbMin;
85 aabbMax = m_localAabbMax;
86 }
87
88protected:
89 btPolyhedralConvexAabbCachingShape();
90
91public:
92 inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
93 {
94 //lazy evaluation of local aabb
95 btAssert(m_isLocalAabbValid);
96 btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
97 }
98
99 virtual void setLocalScaling(const btVector3& scaling);
100
101 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
102
103 void recalcLocalAabb();
104};
105
106#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btConvexInternalShape.h
btMatrix3x3.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:30
btConvexPolyhedron
Definition: btConvexPolyhedron.h:35
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:68
btPolyhedralConvexAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition: btPolyhedralConvexShape.cpp:505
btPolyhedralConvexAabbCachingShape::getCachedLocalAabb
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btPolyhedralConvexShape.h:81
btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape
btPolyhedralConvexAabbCachingShape()
Definition: btPolyhedralConvexShape.cpp:492
btPolyhedralConvexAabbCachingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btPolyhedralConvexShape.cpp:486
btPolyhedralConvexAabbCachingShape::setCachedLocalAabb
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
Definition: btPolyhedralConvexShape.h:74
btPolyhedralConvexAabbCachingShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btPolyhedralConvexShape.cpp:500
btPolyhedralConvexAabbCachingShape::m_isLocalAabbValid
bool m_isLocalAabbValid
Definition: btPolyhedralConvexShape.h:71
btPolyhedralConvexAabbCachingShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btPolyhedralConvexShape.h:70
btPolyhedralConvexAabbCachingShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btPolyhedralConvexShape.h:69
btPolyhedralConvexAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition: btPolyhedralConvexShape.h:92
btPolyhedralConvexShape
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
Definition: btPolyhedralConvexShape.h:26
btPolyhedralConvexShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btPolyhedralConvexShape::isInside
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const =0
btPolyhedralConvexShape::getPlane
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const =0
btPolyhedralConvexShape::getEdge
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const =0
btPolyhedralConvexShape::getNumPlanes
virtual int getNumPlanes() const =0
btPolyhedralConvexShape::getVertex
virtual void getVertex(int i, btVector3 &vtx) const =0
btPolyhedralConvexShape::m_polyhedron
btConvexPolyhedron * m_polyhedron
Definition: btPolyhedralConvexShape.h:28
btPolyhedralConvexShape::getConvexPolyhedron
const btConvexPolyhedron * getConvexPolyhedron() const
Definition: btPolyhedralConvexShape.h:43
btPolyhedralConvexShape::getNumVertices
virtual int getNumVertices() const =0
btPolyhedralConvexShape::getNumEdges
virtual int getNumEdges() const =0
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82