25 #ifndef GIMPACT_SHAPE_H    26 #define GIMPACT_SHAPE_H   111                 m_needs_update = 
true;
   125         if(!m_needs_update) 
return;
   127         m_needs_update  = 
false;
   136         btAABB transformedbox = m_localAABB;
   138         aabbMin = transformedbox.
m_min;
   139         aabbMax = transformedbox.
m_max;
   145         m_needs_update = 
true;
   165                 localScaling = scaling;
   178         int i = getNumChildShapes();
   185                 m_needs_update = 
true;
   213         virtual int     getNumChildShapes() 
const  = 0;
   216         virtual bool childrenHasTransform() 
const = 0;
   219         virtual bool needsRetrieveTriangles() 
const = 0;
   222         virtual bool needsRetrieveTetrahedrons() 
const = 0;
   224         virtual void getBulletTriangle(
int prim_index,
btTriangleShapeEx & triangle) 
const = 0;
   242                 getPrimitiveManager()->get_primitive_triangle(index,triangle);
   252         getPrimitiveManager()->get_primitive_box(child_index,child_aabb);
   254         aabbMin = child_aabb.
m_min;
   255         aabbMax = child_aabb.
m_max;
   266         virtual btTransform     getChildTransform(
int index) 
const = 0;
   272         virtual void setChildTransform(
int index, 
const btTransform & transform) = 0;
   280         (void) rayFrom; (void) rayTo; (void) resultCallback;
   289         (void) callback; (void) aabbMin; (void) aabbMax;
   329                         m_compoundShape = compoundShape;
   334                         m_compoundShape = NULL;
   365             (void) prim_index; (void) triangle;
   382         (void) children_has_transform;
   384                 m_box_set.setPrimitiveManager(&m_primitive_manager);
   395                 if(m_childTransforms.
size()==0) 
return false;
   403                 return &m_primitive_manager;
   409                 return &m_primitive_manager;
   415                 return m_childShapes.
size();
   423                 m_childTransforms.
push_back(localTransform);
   437                 return m_childShapes[index];
   443                 return m_childShapes[index];
   452         if(childrenHasTransform())
   454                 m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax);
   458                 m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax);
   467                 return m_childTransforms[index];
   477                 m_childTransforms[index] = transform;
   496         (void) prim_index; (void) triangle;
   502         (void) prim_index; (void) tetrahedron;
   512                 return "GImpactCompound";
   557                         m_meshInterface = NULL;
   590                         m_meshInterface = meshInterface;
   614                                 &vertexbase,numverts,
   615                                 type, stride,&indexbase, indexstride, numfaces,indicestype,m_part);
   622                         if(m_lock_count == 0) 
return;
   640                         return (
int )numfaces;
   645                         return (
int )numverts;
   652                                 unsigned short* s_indices = (
unsigned short *)(indexbase + face_index * indexstride);
   659                                 unsigned int * i_indices = (
unsigned int *)(indexbase + face_index*indexstride);
   670                                 double * dvertices = (
double *)(vertexbase + vertex_index*stride);
   671                                 vertex[0] = 
btScalar(dvertices[0]*m_scale[0]);
   672                                 vertex[1] = 
btScalar(dvertices[1]*m_scale[1]);
   673                                 vertex[2] = 
btScalar(dvertices[2]*m_scale[2]);
   677                                 float * svertices = (
float *)(vertexbase + vertex_index*stride);
   678                                 vertex[0] = svertices[0]*m_scale[0];
   679                                 vertex[1] = svertices[1]*m_scale[1];
   680                                 vertex[2] = svertices[2]*m_scale[2];
   687                         get_primitive_triangle(prim_index,triangle);
   695                         unsigned int indices[3];
   696                         get_indices(prim_index,indices[0],indices[1],indices[2]);
   697                         get_vertex(indices[0],triangle.
m_vertices[0]);
   698                         get_vertex(indices[1],triangle.
m_vertices[1]);
   699                         get_vertex(indices[2],triangle.
m_vertices[2]);
   705                         unsigned int indices[3];
   706                         get_indices(prim_index,indices[0],indices[1],indices[2]);
   722                 m_box_set.setPrimitiveManager(&m_primitive_manager);
   736     virtual void lockChildShapes() 
const;
   737     virtual void unlockChildShapes()  
const;
   787                 return &m_primitive_manager;
   792                 return &m_primitive_manager;
   806                 return "GImpactMeshShapePart";
   847                 m_primitive_manager.
get_vertex(vertex_index,vertex);
   852         m_primitive_manager.
m_margin = margin;
   858         return m_primitive_manager.
m_margin;
   863         m_primitive_manager.
m_scale = scaling;
   869         return m_primitive_manager.
m_scale;
   874         return (
int)m_primitive_manager.
m_part;
   908         m_localAABB.invalidate();
   909         int i = m_mesh_parts.
size();
   912                 m_mesh_parts[i]->updateBound();
   913                 m_localAABB.merge(m_mesh_parts[i]->getLocalBox());
   920                 m_meshInterface = meshInterface;
   921                 buildMeshParts(meshInterface);
   926                 int i = m_mesh_parts.
size();
   932                 m_mesh_parts.
clear();
   938                 return m_meshInterface;
   943                 return m_meshInterface;
   948                 return m_mesh_parts.
size();
   953                 return m_mesh_parts[index];
   960                 return m_mesh_parts[index];
   966                 localScaling = scaling;
   968                 int i = m_mesh_parts.
size();
   975                 m_needs_update = 
true;
   982                 int i = m_mesh_parts.
size();
   989                 m_needs_update = 
true;
   995                 int i = m_mesh_parts.
size();
  1002         m_needs_update = 
true;
  1047         (void) prim_index; (void) triangle;
  1053         (void) prim_index; (void) tetrahedron;
  1076         (void) child_index; (void) t; (void) aabbMin; (void) aabbMax;
  1111         (void) index; (void) transform;
  1124                 return "GImpactMesh";
  1164 #endif //GIMPACT_MESH_SHAPE_H virtual int get_primitive_count() const
int getMeshPartCount() const
virtual const btVector3 & getLocalScaling() const
virtual btTransform getChildTransform(int index) const
Gets the children transform. 
void push_back(const T &_Val)
virtual const char * getName() const
virtual ~btGImpactMeshShape()
Helper class for colliding Bullet Triangle Shapes. 
CompoundPrimitiveManager()
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
Subshape member functions. 
btScalar m_collisionMargin
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
virtual void setMargin(btScalar margin)
virtual void postUpdate()
Tells to this object that is needed to refit all the meshes. 
virtual btTransform getChildTransform(int index) const
Gets the children transform. 
void setVertices(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, const btVector3 &v3)
virtual void lockChildShapes() const
call when reading child shapes 
virtual bool childrenHasTransform() const
if true, then its children must get transforms. 
virtual void setLocalScaling(const btVector3 &scaling)
virtual bool needsRetrieveTetrahedrons() const
Determines if this shape has tetrahedrons. 
const btAABB & getLocalBox()
Obtains the local box, which is the global calculated box of the total of subshapes. 
virtual bool needsRetrieveTriangles() const
Determines if this shape has triangles. 
btGImpactShapeInterface()
btAABB getGlobalBox() const
virtual int getNumChildShapes() const
Gets the number of children. 
virtual bool needsRetrieveTetrahedrons() const
Determines if this shape has tetrahedrons. 
int getVertexCount() const
btScalar getMargin() const
TrimeshPrimitiveManager(btStridingMeshInterface *meshInterface, int part)
virtual void setLocalScaling(const btVector3 &scaling)
void setMargin(btScalar margin)
CompoundPrimitiveManager(const CompoundPrimitiveManager &compound)
void get_indices(int face_index, unsigned int &i0, unsigned int &i1, unsigned int &i2) const
virtual int calculateSerializeBufferSize() const
void addChildShape(const btTransform &localTransform, btCollisionShape *shape)
Use this method for adding children. Only Convex shapes are allowed. 
virtual void calcLocalAABB()
use this function for perfofm refit in bounding boxes 
virtual bool childrenHasTransform() const
if true, then its children must get transforms. 
virtual void rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, btCollisionWorld::RayResultCallback &resultCallback) const
virtual method for ray collision 
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
RayResultCallback is used to report new raycast results. 
virtual const btVector3 & getLocalScaling() const
virtual void unlockChildShapes() const
#define SIMD_FORCE_INLINE
CompoundPrimitiveManager m_primitive_manager
void addChildShape(btCollisionShape *shape)
Use this method for adding children. Only Convex shapes are allowed. 
virtual void lockChildShapes() const
call when reading child shapes 
void get_bullet_triangle(int prim_index, btTriangleShapeEx &triangle) const
virtual int getNumChildShapes() const
Gets the number of children. 
virtual bool is_trimesh() const
determines if this manager consist on only triangles, which special case will be optimized ...
const btGImpactBoxSet * getBoxSet() const
gets boxset 
virtual bool is_trimesh() const
determines if this manager consist on only triangles, which special case will be optimized ...
void buildMeshParts(btStridingMeshInterface *meshInterface)
This class manages a mesh supplied by the btStridingMeshInterface interface. 
Used for GIMPACT Trimesh integration. 
virtual void getChildAabb(int child_index, const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Retrieves the bound from a child. 
const unsigned char * vertexbase
btGImpactBoxSet m_box_set
Prototype Base class for primitive classification. 
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...
CompoundPrimitiveManager(btGImpactCompoundShape *compoundShape)
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
Subshape member functions. 
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations. 
virtual void getBulletTriangle(int prim_index, btTriangleShapeEx &triangle) const
compound primitive manager 
btGImpactCompoundShape(bool children_has_transform=true)
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
If the Bounding box is not updated, then this class attemps to calculate it. 
void getVertex(int vertex_index, btVector3 &vertex) const
btGImpactMeshShapePart * getMeshPart(int index)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
virtual const btPrimitiveManagerBase * getPrimitiveManager() const
Obtains the primitive manager. 
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure) 
btStridingMeshInterface * getMeshInterface()
TrimeshPrimitiveManager * getTrimeshPrimitiveManager()
virtual void getChildAabb(int child_index, const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Retrieves the bound from a child. 
virtual void setMargin(btScalar margin)
btAlignedObjectArray< btTransform > m_childTransforms
Base class for gimpact shapes. 
This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface. 
virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx &tetrahedron) const
virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx &tetrahedron) const
virtual void postUpdate()
Tells to this object that is needed to refit the box set. 
virtual const btPrimitiveManagerBase * getPrimitiveManager() const
Obtains the primitive manager. 
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead. 
void update()
node manager prototype functions 
btStridingMeshInterfaceData m_meshInterface
TrimeshPrimitiveManager m_primitive_manager
virtual ~TrimeshPrimitiveManager()
void calc_from_triangle_margin(const CLASS_POINT &V1, const CLASS_POINT &V2, const CLASS_POINT &V3, btScalar margin)
virtual const char * getName() const
virtual void setChildTransform(int index, const btTransform &transform)
Sets the children transform. 
virtual void get_primitive_box(int prim_index, btAABB &primbox) const
virtual bool needsRetrieveTriangles() const
Determines if this shape has triangles. 
int getNodeCount() const
node count 
virtual void setMargin(btScalar margin)=0
Helper class for tetrahedrons. 
virtual void get_primitive_box(int prim_index, btAABB &primbox) const
TrimeshPrimitiveManager(const TrimeshPrimitiveManager &manager)
void appy_transform(const btTransform &trans)
Apply a transform to an AABB. 
virtual bool childrenHasTransform() const
if true, then its children must get transforms. 
virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle &triangle) const
retrieves only the points of the triangle, and the collision margin 
virtual int getNumChildShapes() const
Gets the number of children. 
virtual void getChildAabb(int child_index, const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Retrieves the bound from a child. 
Trimesh primitive manager. 
virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle &triangle) const
retrieves only the points of the triangle, and the collision margin 
CompoundPrimitiveManager * getCompoundPrimitiveManager()
Obtains the compopund primitive manager. 
btCollisionShapeData m_collisionShapeData
btVector3 can be used to represent 3D points and vectors. 
virtual int getNumSubParts() const =0
getNumSubParts returns the number of seperate subparts each subpart has a continuous array of vertice...
virtual void getBulletTriangle(int prim_index, btTriangleShapeEx &triangle) const
virtual void calcLocalAABB()
use this function for perfofm refit in bounding boxes 
int size() const
return the number of elements in the array 
PHY_ScalarType indicestype
virtual btCollisionShape * getChildShape(int index)
Gets the children. 
virtual const char * getName() const
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx &tetrahedron) const
virtual void setLocalScaling(const btVector3 &scaling)
virtual btTransform getChildTransform(int index) const
Gets the children transform. 
virtual int getShapeType() const
The btConcaveShape class provides an interface for non-moving (static) concave shapes. 
const btVector3 & getScaling() const
virtual btCollisionShape * getChildShape(int index)
Gets the children. 
virtual const btCollisionShape * getChildShape(int index) const
Gets the child. 
virtual int get_primitive_count() const
const unsigned char * indexbase
virtual void getBulletTriangle(int prim_index, btTriangleShapeEx &triangle) const
virtual void setChildTransform(int index, const btTransform &transform)
Sets the children transform. 
void get_vertex(unsigned int vertex_index, btVector3 &vertex) const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
void getPrimitiveTriangle(int index, btPrimitiveTriangle &triangle) const
if this trimesh 
bool hasBoxSet() const
Determines if this class has a hierarchy structure for sorting its primitives. 
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
Subshape member functions. 
virtual const btCollisionShape * getChildShape(int index) const
Gets the children. 
btStridingMeshInterface * m_meshInterface
virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int &numverts, PHY_ScalarType &type, int &stride, const unsigned char **indexbase, int &indexstride, int &numfaces, PHY_ScalarType &indicestype, int subpart=0) const =0
virtual void processAllTrianglesRay(btTriangleCallback *, const btVector3 &, const btVector3 &) const
Function for retrieve triangles. 
virtual int calculateSerializeBufferSize() const
virtual ~CompoundPrimitiveManager()
const btGImpactMeshShapePart * getMeshPart(int index) const
virtual btCollisionShape * getChildShape(int index)
Gets the children. 
virtual void unLockReadOnlyVertexBase(int subpart) const =0
void updateBound()
performs refit operation 
virtual bool needsRetrieveTetrahedrons() const
Determines if this shape has tetrahedrons. 
int get_vertex_count() const
virtual ~btGImpactCompoundShape()
virtual void unlockChildShapes() const
btAlignedObjectArray< btGImpactMeshShapePart * > m_mesh_parts
btVector3FloatData m_localScaling
Structure for containing Boxes. 
btAlignedObjectArray< btCollisionShape * > m_childShapes
virtual const btCollisionShape * getChildShape(int index) const
Gets the child. 
btGImpactCompoundShape * m_compoundShape
TrimeshPrimitiveManager()
const btStridingMeshInterface * getMeshInterface() const
virtual bool needsRetrieveTriangles() const
Determines if this shape has triangles. 
virtual void setChildTransform(int index, const btTransform &transform)
Sets the children transform. 
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Function for retrieve triangles. 
virtual const btPrimitiveManagerBase * getPrimitiveManager() const
Obtains the primitive manager. 
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once ...
PHY_ScalarType
PHY_ScalarType enumerates possible scalar types. 
btGImpactMeshShape(btStridingMeshInterface *meshInterface)
btStridingMeshInterface * m_meshInterface
btGImpactQuantizedBvh btGImpactBoxSet
declare Quantized trees, (you can change to float based trees) 
void buildSet()
this rebuild the entire set 
virtual void setMargin(btScalar margin)