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_STATIC_PLANE_SHAPE_H
17 #define BT_STATIC_PLANE_SHAPE_H
18
19 #include "btConcaveShape.h"
20
21
22 ///The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
ATTRIBUTE_ALIGNED16(class)23 ATTRIBUTE_ALIGNED16(class) btStaticPlaneShape : public btConcaveShape
24 {
25 protected:
26 btVector3 m_localAabbMin;
27 btVector3 m_localAabbMax;
28
29 btVector3 m_planeNormal;
30 btScalar m_planeConstant;
31 btVector3 m_localScaling;
32
33 public:
34 BT_DECLARE_ALIGNED_ALLOCATOR();
35
36 btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
37
38 virtual ~btStaticPlaneShape();
39
40
41 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
42
43 virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
44
45 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
46
47 virtual void setLocalScaling(const btVector3& scaling);
48 virtual const btVector3& getLocalScaling() const;
49
50 const btVector3& getPlaneNormal() const
51 {
52 return m_planeNormal;
53 }
54
55 const btScalar& getPlaneConstant() const
56 {
57 return m_planeConstant;
58 }
59
60 //debugging
61 virtual const char* getName()const {return "STATICPLANE";}
62
63 virtual int calculateSerializeBufferSize() const;
64
65 ///fills the dataBuffer and returns the struct name (and 0 on failure)
66 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
67
68
69 };
70
71 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
72 struct btStaticPlaneShapeData
73 {
74 btCollisionShapeData m_collisionShapeData;
75
76 btVector3FloatData m_localScaling;
77 btVector3FloatData m_planeNormal;
78 float m_planeConstant;
79 char m_pad[4];
80 };
81
82
calculateSerializeBufferSize()83 SIMD_FORCE_INLINE int btStaticPlaneShape::calculateSerializeBufferSize() const
84 {
85 return sizeof(btStaticPlaneShapeData);
86 }
87
88 ///fills the dataBuffer and returns the struct name (and 0 on failure)
serialize(void * dataBuffer,btSerializer * serializer)89 SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const
90 {
91 btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) dataBuffer;
92 btCollisionShape::serialize(&planeData->m_collisionShapeData,serializer);
93
94 m_localScaling.serializeFloat(planeData->m_localScaling);
95 m_planeNormal.serializeFloat(planeData->m_planeNormal);
96 planeData->m_planeConstant = float(m_planeConstant);
97
98 return "btStaticPlaneShapeData";
99 }
100
101
102 #endif //BT_STATIC_PLANE_SHAPE_H
103
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106