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

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btConvexHullShape.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_HULL_SHAPE_H
17#define BT_CONVEX_HULL_SHAPE_H
18
19#include "btPolyhedralConvexShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21#include "LinearMath/btAlignedObjectArray.h"
22
25 ATTRIBUTE_ALIGNED16(class)
26 btConvexHullShape : public btPolyhedralConvexAabbCachingShape
27{
28protected:
29 btAlignedObjectArray<btVector3> m_unscaledPoints;
30
31public:
32 BT_DECLARE_ALIGNED_ALLOCATOR();
33
37 btConvexHullShape(const btScalar* points = 0, int numPoints = 0, int stride = sizeof(btVector3));
38
39 void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
40
41 btVector3* getUnscaledPoints()
42 {
43 return &m_unscaledPoints[0];
44 }
45
46 const btVector3* getUnscaledPoints() const
47 {
48 return &m_unscaledPoints[0];
49 }
50
52 const btVector3* getPoints() const
53 {
54 return getUnscaledPoints();
55 }
56
57 void optimizeConvexHull();
58
59 SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
60 {
61 return m_unscaledPoints[i] * m_localScaling;
62 }
63
64 SIMD_FORCE_INLINE int getNumPoints() const
65 {
66 return m_unscaledPoints.size();
67 }
68
69 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
70 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
71 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
72
73 virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
74
75 //debugging
76 virtual const char* getName() const { return "Convex"; }
77
78 virtual int getNumVertices() const;
79 virtual int getNumEdges() const;
80 virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
81 virtual void getVertex(int i, btVector3& vtx) const;
82 virtual int getNumPlanes() const;
83 virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
84 virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
85
87 virtual void setLocalScaling(const btVector3& scaling);
88
89 virtual int calculateSerializeBufferSize() const;
90
92 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
93};
94
95// clang-format off
96
98 struct btConvexHullShapeData
99{
100 btConvexInternalShapeData m_convexInternalShapeData;
101
102 btVector3FloatData *m_unscaledPointsFloatPtr;
103 btVector3DoubleData *m_unscaledPointsDoublePtr;
104
105 int m_numUnscaledPoints;
106 char m_padding3[4];
107
108};
109
110// clang-format on
111
112 SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
113{
114 return sizeof(btConvexHullShapeData);
115}
116
117#endif //BT_CONVEX_HULL_SHAPE_H
btAlignedObjectArray.h
btBroadphaseProxy.h
addPoint
static void addPoint(unsigned int &vcount, btVector3 *p, btScalar x, btScalar y, btScalar z)
Definition btConvexHull.cpp:804
btPolyhedralConvexShape.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
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition btAlignedObjectArray.h:142
btConvexHullShape
The btConvexHullShape implements an implicit convex hull of an array of vertices.
Definition btConvexHullShape.h:27
btConvexHullShape::m_unscaledPoints
btAlignedObjectArray< btVector3 > m_unscaledPoints
Definition btConvexHullShape.h:29
btConvexHullShape::getUnscaledPoints
btVector3 * getUnscaledPoints()
Definition btConvexHullShape.h:41
btConvexHullShape::getUnscaledPoints
const btVector3 * getUnscaledPoints() const
Definition btConvexHullShape.h:46
btConvexHullShape::getPoints
const btVector3 * getPoints() const
getPoints is obsolete, please use getUnscaledPoints
Definition btConvexHullShape.h:52
btConvexHullShape::getName
virtual const char * getName() const
Definition btConvexHullShape.h:76
btConvexHullShape::getScaledPoint
btVector3 getScaledPoint(int i) const
Definition btConvexHullShape.h:59
btConvexHullShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition btConvexHullShape.h:112
btConvexHullShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvexHullShape::getNumPoints
int getNumPoints() const
Definition btConvexHullShape.h:64
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition btPolyhedralConvexShape.h:68
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
btConvexHullShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btConvexHullShape.h:99
btConvexHullShapeData::m_unscaledPointsDoublePtr
btVector3DoubleData * m_unscaledPointsDoublePtr
Definition btConvexHullShape.h:103
btConvexHullShapeData::m_unscaledPointsFloatPtr
btVector3FloatData * m_unscaledPointsFloatPtr
Definition btConvexHullShape.h:102
btConvexHullShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition btConvexHullShape.h:100
btConvexHullShapeData::m_padding3
char m_padding3[4]
Definition btConvexHullShape.h:106
btConvexHullShapeData::m_numUnscaledPoints
int m_numUnscaledPoints
Definition btConvexHullShape.h:105
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btConvexInternalShape.h:136
btVector3DoubleData
Definition btVector3.h:1287
btVector3FloatData
Definition btVector3.h:1282