Bullet Collision Detection & Physics Library: btCollisionShape.cpp Source File

Bullet Collision Detection & Physics Library

btCollisionShape.cpp
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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 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
16 #include "LinearMath/btSerializer.h"
17
18 /*
19 Make sure this dummy function never changes so that it
20 can be used by probes that are checking whether the
21 library is actually installed.
22 */
23 extern "C"
24 {
25 void btBulletCollisionProbe ();
26
27 void btBulletCollisionProbe () {}
28 }
29
30
31
32 void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
33 {
34 btTransform tr;
35 tr.setIdentity();
36 btVector3 aabbMin,aabbMax;
37
38 getAabb(tr,aabbMin,aabbMax);
39
40 radius = (aabbMax-aabbMin).length()*btScalar(0.5);
41 center = (aabbMin+aabbMax)*btScalar(0.5);
42 }
43
44
45 btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
46 {
47 return getAngularMotionDisc() * defaultContactThreshold;
48 }
49
50 btScalar btCollisionShape::getAngularMotionDisc() const
51 {
53 btVector3 center;
54 btScalar disc;
55 getBoundingSphere(center,disc);
56 disc += (center).length();
57 return disc;
58 }
59
60 void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const
61 {
62 //start with static aabb
63 getAabb(curTrans,temporalAabbMin,temporalAabbMax);
64
65 btScalar temporalAabbMaxx = temporalAabbMax.getX();
66 btScalar temporalAabbMaxy = temporalAabbMax.getY();
67 btScalar temporalAabbMaxz = temporalAabbMax.getZ();
68 btScalar temporalAabbMinx = temporalAabbMin.getX();
69 btScalar temporalAabbMiny = temporalAabbMin.getY();
70 btScalar temporalAabbMinz = temporalAabbMin.getZ();
71
72 // add linear motion
73 btVector3 linMotion = linvel*timeStep;
75 if (linMotion.x() > btScalar(0.))
76 temporalAabbMaxx += linMotion.x();
77 else
78 temporalAabbMinx += linMotion.x();
79 if (linMotion.y() > btScalar(0.))
80 temporalAabbMaxy += linMotion.y();
81 else
82 temporalAabbMiny += linMotion.y();
83 if (linMotion.z() > btScalar(0.))
84 temporalAabbMaxz += linMotion.z();
85 else
86 temporalAabbMinz += linMotion.z();
87
88 //add conservative angular motion
89 btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
90 btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
91 temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
92 temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
93
94 temporalAabbMin -= angularMotion3d;
95 temporalAabbMax += angularMotion3d;
96 }
97
99 const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
100 {
101 btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer;
102 char* name = (char*) serializer->findNameForPointer(this);
103 shapeData->m_name = (char*)serializer->getUniquePointer(name);
104 if (shapeData->m_name)
105 {
106 serializer->serializeName(name);
107 }
108 shapeData->m_shapeType = m_shapeType;
109 //shapeData->m_padding//??
110 return "btCollisionShapeData";
111 }
112
113 void btCollisionShape::serializeSingleShape(btSerializer* serializer) const
114 {
115 int len = calculateSerializeBufferSize();
116 btChunk* chunk = serializer->allocate(len,1);
117 const char* structType = serialize(chunk->m_oldPtr, serializer);
118 serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
119 }
length
btScalar length(const btQuaternion &q)
Return the length of a quaternion.
Definition: btQuaternion.h:856
btBulletCollisionProbe
void btBulletCollisionProbe()
Definition: btCollisionShape.cpp:27
btChunk
Definition: btSerializer.h:51
btSerializer::getUniquePointer
virtual void * getUniquePointer(void *oldPtr)=0
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btCollisionShape::serializeSingleShape
virtual void serializeSingleShape(btSerializer *serializer) const
Definition: btCollisionShape.cpp:113
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:573
btCollisionShape::getBoundingSphere
virtual void getBoundingSphere(btVector3 &center, btScalar &radius) const
Definition: btCollisionShape.cpp:32
btCollisionShapeData::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:158
btCollisionShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionShape.cpp:99
btCollisionShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t...
btSerializer
Definition: btSerializer.h:68
btCollisionShapeData::m_name
char * m_name
Definition: btCollisionShape.h:157
btVector3::getZ
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:575
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:585
btCollisionShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCollisionShape.h:162
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:587
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:589
btCollisionShape::getContactBreakingThreshold
virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const
Definition: btCollisionShape.cpp:45
btCollisionShape.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btSerializer::finalizeChunk
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
btSerializer::serializeName
virtual void serializeName(const char *ptr)=0
btCollisionShape::calculateTemporalAabb
void calculateTemporalAabb(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0...
Definition: btCollisionShape.cpp:60
btCollisionShape::getAngularMotionDisc
virtual btScalar getAngularMotionDisc() const
getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of...
Definition: btCollisionShape.cpp:50
btSerializer::findNameForPointer
virtual const char * findNameForPointer(const void *ptr) const =0
BT_SHAPE_CODE
#define BT_SHAPE_CODE
Definition: btSerializer.h:125
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btChunk::m_oldPtr
void * m_oldPtr
Definition: btSerializer.h:56
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btCollisionShape.h:155
btSerializer::allocate
virtual btChunk * allocate(size_t size, int numElements)=0
btVector3::getX
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:571
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btVector3::length
btScalar length() const
Return the length of the vector.
Definition: btVector3.h:263
btSerializer.h