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

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btConvexInternalShape.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_CONVEX_INTERNAL_SHAPE_H
17#define BT_CONVEX_INTERNAL_SHAPE_H
18
19#include "btConvexShape.h"
20#include "LinearMath/btAabbUtil2.h"
21
28 ATTRIBUTE_ALIGNED16(class)
29 btConvexInternalShape : public btConvexShape
30{
31protected:
32 //local scaling. collisionMargin is not scaled !
33 btVector3 m_localScaling;
34
35 btVector3 m_implicitShapeDimensions;
36
37 btScalar m_collisionMargin;
38
39 btScalar m_padding;
40
41 btConvexInternalShape();
42
43public:
44 BT_DECLARE_ALIGNED_ALLOCATOR();
45
46 virtual ~btConvexInternalShape()
47 {
48 }
49
50 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
51
52 const btVector3& getImplicitShapeDimensions() const
53 {
54 return m_implicitShapeDimensions;
55 }
56
61 void setImplicitShapeDimensions(const btVector3& dimensions)
62 {
63 m_implicitShapeDimensions = dimensions;
64 }
65
66 void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
67 {
68 btScalar safeMargin = defaultMarginMultiplier * minDimension;
69 if (safeMargin < getMargin())
70 {
71 setMargin(safeMargin);
72 }
73 }
74 void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
75 {
76 //see http://code.google.com/p/bullet/issues/detail?id=349
77 //this margin check could could be added to other collision shapes too,
78 //or add some assert/warning somewhere
79 btScalar minDimension = halfExtents[halfExtents.minAxis()];
80 setSafeMargin(minDimension, defaultMarginMultiplier);
81 }
82
84 void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
85 {
86 getAabbSlow(t, aabbMin, aabbMax);
87 }
88
89 virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
90
91 virtual void setLocalScaling(const btVector3& scaling);
92 virtual const btVector3& getLocalScaling() const
93 {
94 return m_localScaling;
95 }
96
97 const btVector3& getLocalScalingNV() const
98 {
99 return m_localScaling;
100 }
101
102 virtual void setMargin(btScalar margin)
103 {
104 m_collisionMargin = margin;
105 }
106 virtual btScalar getMargin() const
107 {
108 return m_collisionMargin;
109 }
110
111 btScalar getMarginNV() const
112 {
113 return m_collisionMargin;
114 }
115
116 virtual int getNumPreferredPenetrationDirections() const
117 {
118 return 0;
119 }
120
121 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
122 {
123 (void)penetrationVector;
124 (void)index;
125 btAssert(0);
126 }
127
128 virtual int calculateSerializeBufferSize() const;
129
131 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
132};
133
135 struct btConvexInternalShapeData
136{
137 btCollisionShapeData m_collisionShapeData;
138
139 btVector3FloatData m_localScaling;
140
141 btVector3FloatData m_implicitShapeDimensions;
142
143 float m_collisionMargin;
144
145 int m_padding;
146};
147
148 SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
149{
150 return sizeof(btConvexInternalShapeData);
151}
152
154 SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
155{
156 btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*)dataBuffer;
157 btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
158
159 m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
160 m_localScaling.serializeFloat(shapeData->m_localScaling);
161 shapeData->m_collisionMargin = float(m_collisionMargin);
162
163 // Fill padding with zeros to appease msan.
164 shapeData->m_padding = 0;
165
166 return "btConvexInternalShapeData";
167}
168
170 class btConvexInternalAabbCachingShape : public btConvexInternalShape
171{
172 btVector3 m_localAabbMin;
173 btVector3 m_localAabbMax;
174 bool m_isLocalAabbValid;
175
176protected:
177 btConvexInternalAabbCachingShape();
178
179 void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
180 {
181 m_isLocalAabbValid = true;
182 m_localAabbMin = aabbMin;
183 m_localAabbMax = aabbMax;
184 }
185
186 inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
187 {
188 btAssert(m_isLocalAabbValid);
189 aabbMin = m_localAabbMin;
190 aabbMax = m_localAabbMax;
191 }
192
193 inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
194 {
195 //lazy evaluation of local aabb
196 btAssert(m_isLocalAabbValid);
197 btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
198 }
199
200public:
201 virtual void setLocalScaling(const btVector3& scaling);
202
203 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
204
205 void recalcLocalAabb();
206};
207
208#endif //BT_CONVEX_INTERNAL_SHAPE_H
btAabbUtil2.h
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition btAabbUtil2.h:172
btConvexShape.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
btAssert
#define btAssert(x)
Definition btScalar.h:153
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
btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
Definition btConvexInternalShape.h:171
btConvexInternalAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition btConvexInternalShape.h:193
btConvexInternalAabbCachingShape::getCachedLocalAabb
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
Definition btConvexInternalShape.h:186
btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape()
Definition btConvexInternalShape.cpp:74
btConvexInternalAabbCachingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition btConvexInternalShape.cpp:87
btConvexInternalAabbCachingShape::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 btConvexInternalShape.cpp:82
btConvexInternalAabbCachingShape::m_localAabbMax
btVector3 m_localAabbMax
Definition btConvexInternalShape.h:173
btConvexInternalAabbCachingShape::m_localAabbMin
btVector3 m_localAabbMin
Definition btConvexInternalShape.h:172
btConvexInternalAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition btConvexInternalShape.cpp:93
btConvexInternalAabbCachingShape::m_isLocalAabbValid
bool m_isLocalAabbValid
Definition btConvexInternalShape.h:174
btConvexInternalAabbCachingShape::setCachedLocalAabb
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
Definition btConvexInternalShape.h:179
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition btConvexInternalShape.h:30
btConvexInternalShape::setMargin
virtual void setMargin(btScalar margin)
Definition btConvexInternalShape.h:102
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition btConvexInternalShape.h:37
btConvexInternalShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition btConvexInternalShape.h:154
btConvexInternalShape::getLocalScalingNV
const btVector3 & getLocalScalingNV() const
Definition btConvexInternalShape.h:97
btConvexInternalShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition btConvexInternalShape.h:148
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition btConvexInternalShape.h:33
btConvexInternalShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition btConvexInternalShape.h:35
btConvexInternalShape::getImplicitShapeDimensions
const btVector3 & getImplicitShapeDimensions() const
Definition btConvexInternalShape.h:52
btConvexInternalShape::setSafeMargin
void setSafeMargin(const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
Definition btConvexInternalShape.h:74
btConvexInternalShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition btConvexInternalShape.h:92
btConvexInternalShape::setImplicitShapeDimensions
void setImplicitShapeDimensions(const btVector3 &dimensions)
warning: use setImplicitShapeDimensions with care changing a collision shape while the body is in the...
Definition btConvexInternalShape.h:61
btConvexInternalShape::m_padding
btScalar m_padding
Definition btConvexInternalShape.h:39
btConvexInternalShape::getMarginNV
btScalar getMarginNV() const
Definition btConvexInternalShape.h:111
btConvexInternalShape::setSafeMargin
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
Definition btConvexInternalShape.h:66
btConvexInternalShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition btConvexInternalShape.h:121
btConvexInternalShape::getAabb
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 btConvexInternalShape.h:84
btConvexInternalShape::~btConvexInternalShape
virtual ~btConvexInternalShape()
Definition btConvexInternalShape.h:46
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition btConvexInternalShape.h:106
btConvexInternalShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition btConvexInternalShape.h:116
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition btConvexShape.h:33
btSerializer
Definition btSerializer.h:66
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
btVector3::minAxis
int minAxis() const
Return the axis with the smallest value Note return values are 0,1,2 for x, y, or z.
Definition btVector3.h:470
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
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btConvexInternalShape.h:136
btConvexInternalShapeData::m_implicitShapeDimensions
btVector3FloatData m_implicitShapeDimensions
Definition btConvexInternalShape.h:141
btConvexInternalShapeData::m_collisionMargin
float m_collisionMargin
Definition btConvexInternalShape.h:143
btConvexInternalShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition btConvexInternalShape.h:139
btConvexInternalShapeData::m_padding
int m_padding
Definition btConvexInternalShape.h:145
btConvexInternalShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition btConvexInternalShape.h:137
btVector3FloatData
Definition btVector3.h:1282