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

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btStaticPlaneShape.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_STATIC_PLANE_SHAPE_H
17#define BT_STATIC_PLANE_SHAPE_H
18
19#include "btConcaveShape.h"
20
22 ATTRIBUTE_ALIGNED16(class)
23 btStaticPlaneShape : public btConcaveShape
24{
25protected:
26 btVector3 m_localAabbMin;
27 btVector3 m_localAabbMax;
28
29 btVector3 m_planeNormal;
30 btScalar m_planeConstant;
31 btVector3 m_localScaling;
32
33public:
34 BT_DECLARE_ALIGNED_ALLOCATOR();
35
36 btStaticPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
37
38 virtual ~btStaticPlaneShape();
39
40 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
41
42 virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
43
44 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
45
46 virtual void setLocalScaling(const btVector3& scaling);
47 virtual const btVector3& getLocalScaling() const;
48
49 const btVector3& getPlaneNormal() const
50 {
51 return m_planeNormal;
52 }
53
54 const btScalar& getPlaneConstant() const
55 {
56 return m_planeConstant;
57 }
58
59 //debugging
60 virtual const char* getName() const { return "STATICPLANE"; }
61
62 virtual int calculateSerializeBufferSize() const;
63
65 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
66};
67
69 struct btStaticPlaneShapeData
70{
71 btCollisionShapeData m_collisionShapeData;
72
73 btVector3FloatData m_localScaling;
74 btVector3FloatData m_planeNormal;
75 float m_planeConstant;
76 char m_pad[4];
77};
78
79 SIMD_FORCE_INLINE int btStaticPlaneShape::calculateSerializeBufferSize() const
80{
81 return sizeof(btStaticPlaneShapeData);
82}
83
85 SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const
86{
87 btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)dataBuffer;
88 btCollisionShape::serialize(&planeData->m_collisionShapeData, serializer);
89
90 m_localScaling.serializeFloat(planeData->m_localScaling);
91 m_planeNormal.serializeFloat(planeData->m_planeNormal);
92 planeData->m_planeConstant = float(m_planeConstant);
93
94 // Fill padding with zeros to appease msan.
95 planeData->m_pad[0] = 0;
96 planeData->m_pad[1] = 0;
97 planeData->m_pad[2] = 0;
98 planeData->m_pad[3] = 0;
99
100 return "btStaticPlaneShapeData";
101}
102
103#endif //BT_STATIC_PLANE_SHAPE_H
btConcaveShape.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
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition btScalar.h:98
btCollisionShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition btCollisionShape.cpp:96
btConcaveShape
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
Definition btConcaveShape.h:39
btSerializer
Definition btSerializer.h:66
btStaticPlaneShape
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
Definition btStaticPlaneShape.h:24
btStaticPlaneShape::m_localAabbMax
btVector3 m_localAabbMax
Definition btStaticPlaneShape.h:27
btStaticPlaneShape::m_localScaling
btVector3 m_localScaling
Definition btStaticPlaneShape.h:31
btStaticPlaneShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btStaticPlaneShape::getPlaneConstant
const btScalar & getPlaneConstant() const
Definition btStaticPlaneShape.h:54
btStaticPlaneShape::getName
virtual const char * getName() const
Definition btStaticPlaneShape.h:60
btStaticPlaneShape::m_planeNormal
btVector3 m_planeNormal
Definition btStaticPlaneShape.h:29
btStaticPlaneShape::getPlaneNormal
const btVector3 & getPlaneNormal() const
Definition btStaticPlaneShape.h:49
btStaticPlaneShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition btStaticPlaneShape.h:79
btStaticPlaneShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition btStaticPlaneShape.h:85
btStaticPlaneShape::m_planeConstant
btScalar m_planeConstant
Definition btStaticPlaneShape.h:30
btStaticPlaneShape::m_localAabbMin
btVector3 m_localAabbMin
Definition btStaticPlaneShape.h:26
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition btTriangleCallback.h:24
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::serializeFloat
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition btVector3.h:1291
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btCollisionShape.h:163
btStaticPlaneShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btStaticPlaneShape.h:70
btStaticPlaneShapeData::m_planeConstant
float m_planeConstant
Definition btStaticPlaneShape.h:75
btStaticPlaneShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition btStaticPlaneShape.h:73
btStaticPlaneShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition btStaticPlaneShape.h:71
btStaticPlaneShapeData::m_pad
char m_pad[4]
Definition btStaticPlaneShape.h:76
btStaticPlaneShapeData::m_planeNormal
btVector3FloatData m_planeNormal
Definition btStaticPlaneShape.h:74
btVector3FloatData
Definition btVector3.h:1282