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

Bullet Collision Detection & Physics Library

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 void optimizeConvexHull();
59
60 SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
61 {
62 return m_unscaledPoints[i] * m_localScaling;
63 }
64
65 SIMD_FORCE_INLINE int getNumPoints() const
66 {
67 return m_unscaledPoints.size();
68 }
69
70 virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
71 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
72 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
73
74
75 virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
76
77
78 //debugging
79 virtual const char* getName()const {return "Convex";}
80
81
82 virtual int getNumVertices() const;
83 virtual int getNumEdges() const;
84 virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
85 virtual void getVertex(int i,btVector3& vtx) const;
86 virtual int getNumPlanes() const;
87 virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
88 virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
89
91 virtual void setLocalScaling(const btVector3& scaling);
92
93 virtual int calculateSerializeBufferSize() const;
94
96 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
97
98 };
99
101 struct btConvexHullShapeData
102 {
103 btConvexInternalShapeData m_convexInternalShapeData;
104
105 btVector3FloatData *m_unscaledPointsFloatPtr;
106 btVector3DoubleData *m_unscaledPointsDoublePtr;
107
108 int m_numUnscaledPoints;
109 char m_padding3[4];
110
111 };
112
113
114 SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
115 {
116 return sizeof(btConvexHullShapeData);
117 }
118
119
120 #endif //BT_CONVEX_HULL_SHAPE_H
121
btAlignedObjectArray< btVector3 >
btConvexHullShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btConvexHullShape.h:103
btConvexHullShapeData::m_unscaledPointsDoublePtr
btVector3DoubleData * m_unscaledPointsDoublePtr
Definition: btConvexHullShape.h:106
btConvexHullShape::getUnscaledPoints
const btVector3 * getUnscaledPoints() const
Definition: btConvexHullShape.h:47
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:64
btConvexHullShape::m_unscaledPoints
btAlignedObjectArray< btVector3 > m_unscaledPoints
Definition: btConvexHullShape.h:28
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConvexInternalShape.h:144
btConvexHullShape::getNumPoints
int getNumPoints() const
Definition: btConvexHullShape.h:65
btConvexHullShape::getPoints
const btVector3 * getPoints() const
getPoints is obsolete, please use getUnscaledPoints
Definition: btConvexHullShape.h:53
btSerializer
Definition: btSerializer.h:68
btConvexHullShape::getUnscaledPoints
btVector3 * getUnscaledPoints()
Definition: btConvexHullShape.h:42
btConvexHullShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConvexHullShape.h:101
btBroadphaseProxy.h
btConvexHullShape::getScaledPoint
btVector3 getScaledPoint(int i) const
Definition: btConvexHullShape.h:60
btConvexHullShapeData::m_unscaledPointsFloatPtr
btVector3FloatData * m_unscaledPointsFloatPtr
Definition: btConvexHullShape.h:105
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:65
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:155
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
btConvexHullShape::getName
virtual const char * getName() const
Definition: btConvexHullShape.h:79
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:389
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:1311
btPolyhedralConvexShape.h
btConvexHullShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btConvexHullShape.h:114
btConvexHullShapeData::m_padding3
char m_padding3[4]
Definition: btConvexHullShape.h:109
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btVector3DoubleData
Definition: btVector3.h:1316
btConvexHullShapeData::m_numUnscaledPoints
int m_numUnscaledPoints
Definition: btConvexHullShape.h:108