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

Bullet Collision Detection & Physics Library

btScaledBvhTriangleMeshShape.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_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
17 #define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
18
19 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
20
21
24 ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
25 {
26
27
28 btVector3 m_localScaling;
29
30 btBvhTriangleMeshShape* m_bvhTriMeshShape;
31
32 public:
33
34 BT_DECLARE_ALIGNED_ALLOCATOR();
35
36
37 btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling);
38
39 virtual ~btScaledBvhTriangleMeshShape();
40
41
42 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
43 virtual void setLocalScaling(const btVector3& scaling);
44 virtual const btVector3& getLocalScaling() const;
45 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
46
47 virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
48
49 btBvhTriangleMeshShape* getChildShape()
50 {
51 return m_bvhTriMeshShape;
52 }
53
54 const btBvhTriangleMeshShape* getChildShape() const
55 {
56 return m_bvhTriMeshShape;
57 }
58
59 //debugging
60 virtual const char* getName()const {return "SCALEDBVHTRIANGLEMESH";}
61
62 virtual int calculateSerializeBufferSize() const;
63
65 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
66
67 };
68
70 struct btScaledTriangleMeshShapeData
71 {
72 btTriangleMeshShapeData m_trimeshShapeData;
73
74 btVector3FloatData m_localScaling;
75 };
76
77
78 SIMD_FORCE_INLINE int btScaledBvhTriangleMeshShape::calculateSerializeBufferSize() const
79 {
80 return sizeof(btScaledTriangleMeshShapeData);
81 }
82
83
85 SIMD_FORCE_INLINE const char* btScaledBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
86 {
87 btScaledTriangleMeshShapeData* scaledMeshData = (btScaledTriangleMeshShapeData*) dataBuffer;
88 m_bvhTriMeshShape->serialize(&scaledMeshData->m_trimeshShapeData,serializer);
89 scaledMeshData->m_trimeshShapeData.m_collisionShapeData.m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
90 m_localScaling.serializeFloat(scaledMeshData->m_localScaling);
91 return "btScaledTriangleMeshShapeData";
92 }
93
94
95 #endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:56
btScaledTriangleMeshShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btScaledBvhTriangleMeshShape.h:70
btScaledBvhTriangleMeshShape::getChildShape
const btBvhTriangleMeshShape * getChildShape() const
Definition: btScaledBvhTriangleMeshShape.h:54
btTriangleMeshShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition: btBvhTriangleMeshShape.h:126
btScaledTriangleMeshShapeData::m_trimeshShapeData
btTriangleMeshShapeData m_trimeshShapeData
Definition: btScaledBvhTriangleMeshShape.h:72
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
btBvhTriangleMeshShape.h
btCollisionShapeData::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:158
btSerializer
Definition: btSerializer.h:68
btScaledBvhTriangleMeshShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btScaledBvhTriangleMeshShape.h:85
btBvhTriangleMeshShape
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
Definition: btBvhTriangleMeshShape.h:34
btScaledBvhTriangleMeshShape::getChildShape
btBvhTriangleMeshShape * getChildShape()
Definition: btScaledBvhTriangleMeshShape.h:49
btScaledBvhTriangleMeshShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btScaledBvhTriangleMeshShape.h:78
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:24
btScaledTriangleMeshShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition: btScaledBvhTriangleMeshShape.h:74
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btConcaveShape
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
Definition: btConcaveShape.h:36
btScaledBvhTriangleMeshShape::m_bvhTriMeshShape
btBvhTriangleMeshShape * m_bvhTriMeshShape
Definition: btScaledBvhTriangleMeshShape.h:30
btTriangleMeshShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btBvhTriangleMeshShape.h:124
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
btScaledBvhTriangleMeshShape::m_localScaling
btVector3 m_localScaling
Definition: btScaledBvhTriangleMeshShape.h:28
btScaledBvhTriangleMeshShape
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
Definition: btScaledBvhTriangleMeshShape.h:24
btVector3FloatData
Definition: btVector3.h:1312
btScaledBvhTriangleMeshShape::getName
virtual const char * getName() const
Definition: btScaledBvhTriangleMeshShape.h:60
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292