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

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btConvexHullShape.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_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
23
26 ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape
27 {
28 btAlignedObjectArray<btVector3> m_unscaledPoints;
29
30 public:
31 BT_DECLARE_ALIGNED_ALLOCATOR();
32
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
42 btVector3* getUnscaledPoints()
43 {
44 return &m_unscaledPoints[0];
45 }
46
47 const btVector3* getUnscaledPoints() const
48 {
49 return &m_unscaledPoints[0];
50 }
51
53 const btVector3* getPoints() const
54 {
55 return getUnscaledPoints();
56 }
57
58
59
60
61 SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
62 {
63 return m_unscaledPoints[i] * m_localScaling;
64 }
65
66 SIMD_FORCE_INLINE int getNumPoints() const
67 {
68 return m_unscaledPoints.size();
69 }
70
71 virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
72 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
73 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
74
75
76 virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
77
78
79 //debugging
80 virtual const char* getName()const {return "Convex";}
81
82
83 virtual int getNumVertices() const;
84 virtual int getNumEdges() const;
85 virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
86 virtual void getVertex(int i,btVector3& vtx) const;
87 virtual int getNumPlanes() const;
88 virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
89 virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
90
92 virtual void setLocalScaling(const btVector3& scaling);
93
94 virtual int calculateSerializeBufferSize() const;
95
97 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
98
99 };
100
102 struct btConvexHullShapeData
103 {
104 btConvexInternalShapeData m_convexInternalShapeData;
105
106 btVector3FloatData *m_unscaledPointsFloatPtr;
107 btVector3DoubleData *m_unscaledPointsDoublePtr;
108
109 int m_numUnscaledPoints;
110 char m_padding3[4];
111
112 };
113
114
115 SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
116 {
117 return sizeof(btConvexHullShapeData);
118 }
119
120
121 #endif //BT_CONVEX_HULL_SHAPE_H
122
btConvexHullShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btConvexHullShape.h:115
btConvexHullShape::getUnscaledPoints
const btVector3 * getUnscaledPoints() const
Definition: btConvexHullShape.h:47
btConvexHullShape::getName
virtual const char * getName() const
Definition: btConvexHullShape.h:80
btAlignedObjectArray< btVector3 >
btConvexHullShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btConvexHullShape.h:104
btConvexHullShapeData::m_unscaledPointsDoublePtr
btVector3DoubleData * m_unscaledPointsDoublePtr
Definition: btConvexHullShape.h:107
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btConvexHullShape::m_unscaledPoints
btAlignedObjectArray< btVector3 > m_unscaledPoints
Definition: btConvexHullShape.h:28
btConvexHullShape::getNumPoints
int getNumPoints() const
Definition: btConvexHullShape.h:66
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConvexInternalShape.h:144
btConvexHullShape::getScaledPoint
btVector3 getScaledPoint(int i) const
Definition: btConvexHullShape.h:61
btSerializer
Definition: btSerializer.h:68
btConvexHullShape::getUnscaledPoints
btVector3 * getUnscaledPoints()
Definition: btConvexHullShape.h:42
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:155
btConvexHullShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConvexHullShape.h:102
btBroadphaseProxy.h
btConvexHullShapeData::m_unscaledPointsFloatPtr
btVector3FloatData * m_unscaledPointsFloatPtr
Definition: btConvexHullShape.h:106
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
btConvexHullShape::getPoints
const btVector3 * getPoints() const
getPoints is obsolete, please use getUnscaledPoints
Definition: btConvexHullShape.h:53
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
addPoint
static void addPoint(unsigned int &vcount, btVector3 *p, btScalar x, btScalar y, btScalar z)
Definition: btConvexHull.cpp:832
btAlignedObjectArray.h
btConvexHullShape
The btConvexHullShape implements an implicit convex hull of an array of vertices. ...
Definition: btConvexHullShape.h:26
btVector3FloatData
Definition: btVector3.h:1301
btPolyhedralConvexShape.h
btConvexHullShapeData::m_padding3
char m_padding3[4]
Definition: btConvexHullShape.h:110
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btVector3DoubleData
Definition: btVector3.h:1306
btConvexHullShapeData::m_numUnscaledPoints
int m_numUnscaledPoints
Definition: btConvexHullShape.h:109