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_COLLISION_SHAPE_H
17 #define BT_COLLISION_SHAPE_H
18
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btMatrix3x3.h"
22 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
23 class btSerializer;
24
25
26 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
ATTRIBUTE_ALIGNED16(class)27 ATTRIBUTE_ALIGNED16(class) btCollisionShape
28 {
29 protected:
30 int m_shapeType;
31 void* m_userPointer;
32 int m_userIndex;
33
34 public:
35
36 BT_DECLARE_ALIGNED_ALLOCATOR();
37
38 btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
39 {
40 }
41
42 virtual ~btCollisionShape()
43 {
44 }
45
46 ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
47 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
48
49 virtual void getBoundingSphere(btVector3& center,btScalar& radius) const;
50
51 ///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
52 virtual btScalar getAngularMotionDisc() const;
53
54 virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
55
56
57 ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
58 ///result is conservative
59 void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
60
61
62
63 SIMD_FORCE_INLINE bool isPolyhedral() const
64 {
65 return btBroadphaseProxy::isPolyhedral(getShapeType());
66 }
67
68 SIMD_FORCE_INLINE bool isConvex2d() const
69 {
70 return btBroadphaseProxy::isConvex2d(getShapeType());
71 }
72
73 SIMD_FORCE_INLINE bool isConvex() const
74 {
75 return btBroadphaseProxy::isConvex(getShapeType());
76 }
77 SIMD_FORCE_INLINE bool isNonMoving() const
78 {
79 return btBroadphaseProxy::isNonMoving(getShapeType());
80 }
81 SIMD_FORCE_INLINE bool isConcave() const
82 {
83 return btBroadphaseProxy::isConcave(getShapeType());
84 }
85 SIMD_FORCE_INLINE bool isCompound() const
86 {
87 return btBroadphaseProxy::isCompound(getShapeType());
88 }
89
90 SIMD_FORCE_INLINE bool isSoftBody() const
91 {
92 return btBroadphaseProxy::isSoftBody(getShapeType());
93 }
94
95 ///isInfinite is used to catch simulation error (aabb check)
96 SIMD_FORCE_INLINE bool isInfinite() const
97 {
98 return btBroadphaseProxy::isInfinite(getShapeType());
99 }
100
101 #ifndef __SPU__
102 virtual void setLocalScaling(const btVector3& scaling) =0;
103 virtual const btVector3& getLocalScaling() const =0;
104 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
105
106
107 //debugging support
108 virtual const char* getName()const =0 ;
109 #endif //__SPU__
110
111
112 int getShapeType() const { return m_shapeType; }
113
114 ///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
115 ///See Bullet/Demos/RollingFrictionDemo for an example
116 virtual btVector3 getAnisotropicRollingFrictionDirection() const
117 {
118 return btVector3(1,1,1);
119 }
120 virtual void setMargin(btScalar margin) = 0;
121 virtual btScalar getMargin() const = 0;
122
123
124 ///optional user data pointer
125 void setUserPointer(void* userPtr)
126 {
127 m_userPointer = userPtr;
128 }
129
130 void* getUserPointer() const
131 {
132 return m_userPointer;
133 }
134 void setUserIndex(int index)
135 {
136 m_userIndex = index;
137 }
138
139 int getUserIndex() const
140 {
141 return m_userIndex;
142 }
143
144
145 virtual int calculateSerializeBufferSize() const;
146
147 ///fills the dataBuffer and returns the struct name (and 0 on failure)
148 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
149
150 virtual void serializeSingleShape(btSerializer* serializer) const;
151
152 };
153
154 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
155 struct btCollisionShapeData
156 {
157 char *m_name;
158 int m_shapeType;
159 char m_padding[4];
160 };
161
calculateSerializeBufferSize()162 SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
163 {
164 return sizeof(btCollisionShapeData);
165 }
166
167
168
169 #endif //BT_COLLISION_SHAPE_H
170
171