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

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btPolyhedralConvexShape.h
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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_POLYHEDRAL_CONVEX_SHAPE_H
17 #define BT_POLYHEDRAL_CONVEX_SHAPE_H
18
19 #include "LinearMath/btMatrix3x3.h"
20 #include "btConvexInternalShape.h"
21 class btConvexPolyhedron;
22
23
25 ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
26 {
27
28
29 protected:
30
31 btConvexPolyhedron* m_polyhedron;
32
33 public:
34
35 BT_DECLARE_ALIGNED_ALLOCATOR();
36
37
38 btPolyhedralConvexShape();
39
40 virtual ~btPolyhedralConvexShape();
41
44 virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0);
45
46 const btConvexPolyhedron* getConvexPolyhedron() const
47 {
48 return m_polyhedron;
49 }
50
51 //brute force implementations
52
53 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
54 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
55
56 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
57
58
59 virtual int getNumVertices() const = 0 ;
60 virtual int getNumEdges() const = 0;
61 virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
62 virtual void getVertex(int i,btVector3& vtx) const = 0;
63 virtual int getNumPlanes() const = 0;
64 virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
65 // virtual int getIndex(int i) const = 0 ;
66
67 virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
68
69 };
70
71
73 class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
74 {
75
76 btVector3 m_localAabbMin;
77 btVector3 m_localAabbMax;
78 bool m_isLocalAabbValid;
79
80 protected:
81
82 void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
83 {
84 m_isLocalAabbValid = true;
85 m_localAabbMin = aabbMin;
86 m_localAabbMax = aabbMax;
87 }
88
89 inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
90 {
91 btAssert(m_isLocalAabbValid);
92 aabbMin = m_localAabbMin;
93 aabbMax = m_localAabbMax;
94 }
95
96 public:
97
98 btPolyhedralConvexAabbCachingShape();
99
100 inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
101 {
102
103 //lazy evaluation of local aabb
104 btAssert(m_isLocalAabbValid);
105 btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
106 }
107
108 virtual void setLocalScaling(const btVector3& scaling);
109
110 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
111
112 void recalcLocalAabb();
113
114 };
115
116 #endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
btPolyhedralConvexAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition: btPolyhedralConvexShape.h:100
btPolyhedralConvexAabbCachingShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btPolyhedralConvexShape.h:76
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:29
btPolyhedralConvexAabbCachingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btPolyhedralConvexShape.cpp:431
btPolyhedralConvexAabbCachingShape::getCachedLocalAabb
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btPolyhedralConvexShape.h:89
btPolyhedralConvexAabbCachingShape::m_isLocalAabbValid
bool m_isLocalAabbValid
Definition: btPolyhedralConvexShape.h:78
btAssert
#define btAssert(x)
Definition: btScalar.h:113
btPolyhedralConvexAabbCachingShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btPolyhedralConvexShape.h:77
btMatrix3x3.h
btPolyhedralConvexAabbCachingShape::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: btPolyhedralConvexShape.cpp:445
btPolyhedralConvexShape::getConvexPolyhedron
const btConvexPolyhedron * getConvexPolyhedron() const
Definition: btPolyhedralConvexShape.h:46
btConvexPolyhedron
Definition: btConvexPolyhedron.h:37
btPolyhedralConvexShape
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
Definition: btPolyhedralConvexShape.h:25
btConvexInternalShape.h
btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape
btPolyhedralConvexAabbCachingShape()
Definition: btPolyhedralConvexShape.cpp:437
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:73
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btPolyhedralConvexShape::m_polyhedron
btConvexPolyhedron * m_polyhedron
Definition: btPolyhedralConvexShape.h:31
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:182
btPolyhedralConvexAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition: btPolyhedralConvexShape.cpp:450
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btPolyhedralConvexAabbCachingShape::setCachedLocalAabb
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
Definition: btPolyhedralConvexShape.h:82