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_MULTI_SPHERE_MINKOWSKI_H
17 #define BT_MULTI_SPHERE_MINKOWSKI_H
18
19 #include "btConvexInternalShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21 #include "LinearMath/btAlignedObjectArray.h"
22 #include "LinearMath/btAabbUtil2.h"
23
24
25
26 ///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
27 ///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
ATTRIBUTE_ALIGNED16(class)28 ATTRIBUTE_ALIGNED16(class) btMultiSphereShape : public btConvexInternalAabbCachingShape
29 {
30
31 btAlignedObjectArray<btVector3> m_localPositionArray;
32 btAlignedObjectArray<btScalar> m_radiArray;
33
34 public:
35 BT_DECLARE_ALIGNED_ALLOCATOR();
36
37 btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
38
39 ///CollisionShape Interface
40 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
41
42 /// btConvexShape Interface
43 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
44
45 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
46
47 int getSphereCount() const
48 {
49 return m_localPositionArray.size();
50 }
51
52 const btVector3& getSpherePosition(int index) const
53 {
54 return m_localPositionArray[index];
55 }
56
57 btScalar getSphereRadius(int index) const
58 {
59 return m_radiArray[index];
60 }
61
62
63 virtual const char* getName()const
64 {
65 return "MultiSphere";
66 }
67
68 virtual int calculateSerializeBufferSize() const;
69
70 ///fills the dataBuffer and returns the struct name (and 0 on failure)
71 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
72
73
74 };
75
76
77 struct btPositionAndRadius
78 {
79 btVector3FloatData m_pos;
80 float m_radius;
81 };
82
83 struct btMultiSphereShapeData
84 {
85 btConvexInternalShapeData m_convexInternalShapeData;
86
87 btPositionAndRadius *m_localPositionArrayPtr;
88 int m_localPositionArraySize;
89 char m_padding[4];
90 };
91
92
93
calculateSerializeBufferSize()94 SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
95 {
96 return sizeof(btMultiSphereShapeData);
97 }
98
99
100
101 #endif //BT_MULTI_SPHERE_MINKOWSKI_H
102