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

Bullet Collision Detection & Physics Library

btCollisionShape.h
Go to the documentation of this file.
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_COLLISION_SHAPE_H
17 #define BT_COLLISION_SHAPE_H
18
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btMatrix3x3.h"
22 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
23 class btSerializer;
24
26 ATTRIBUTE_ALIGNED16(class)
27 btCollisionShape
28 {
29 protected:
30 int m_shapeType;
31 void* m_userPointer;
32 int m_userIndex;
33
34 public:
35 BT_DECLARE_ALIGNED_ALLOCATOR();
36
37 btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
38 {
39 }
40
41 virtual ~btCollisionShape()
42 {
43 }
44
46 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
47
48 virtual void getBoundingSphere(btVector3 & center, btScalar & radius) const;
49
51 virtual btScalar getAngularMotionDisc() const;
52
53 virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
54
57 void calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const;
58
59 SIMD_FORCE_INLINE bool isPolyhedral() const
60 {
61 return btBroadphaseProxy::isPolyhedral(getShapeType());
62 }
63
64 SIMD_FORCE_INLINE bool isConvex2d() const
65 {
66 return btBroadphaseProxy::isConvex2d(getShapeType());
67 }
68
69 SIMD_FORCE_INLINE bool isConvex() const
70 {
71 return btBroadphaseProxy::isConvex(getShapeType());
72 }
73 SIMD_FORCE_INLINE bool isNonMoving() const
74 {
75 return btBroadphaseProxy::isNonMoving(getShapeType());
76 }
77 SIMD_FORCE_INLINE bool isConcave() const
78 {
79 return btBroadphaseProxy::isConcave(getShapeType());
80 }
81 SIMD_FORCE_INLINE bool isCompound() const
82 {
83 return btBroadphaseProxy::isCompound(getShapeType());
84 }
85
86 SIMD_FORCE_INLINE bool isSoftBody() const
87 {
88 return btBroadphaseProxy::isSoftBody(getShapeType());
89 }
90
92 SIMD_FORCE_INLINE bool isInfinite() const
93 {
94 return btBroadphaseProxy::isInfinite(getShapeType());
95 }
96
97 #ifndef __SPU__
98 virtual void setLocalScaling(const btVector3& scaling) = 0;
99 virtual const btVector3& getLocalScaling() const = 0;
100 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const = 0;
101
102 //debugging support
103 virtual const char* getName() const = 0;
104 #endif //__SPU__
105
106 int getShapeType() const
107 {
108 return m_shapeType;
109 }
110
113 virtual btVector3 getAnisotropicRollingFrictionDirection() const
114 {
115 return btVector3(1, 1, 1);
116 }
117 virtual void setMargin(btScalar margin) = 0;
118 virtual btScalar getMargin() const = 0;
119
121 void setUserPointer(void* userPtr)
122 {
123 m_userPointer = userPtr;
124 }
125
126 void* getUserPointer() const
127 {
128 return m_userPointer;
129 }
130 void setUserIndex(int index)
131 {
132 m_userIndex = index;
133 }
134
135 int getUserIndex() const
136 {
137 return m_userIndex;
138 }
139
140 virtual int calculateSerializeBufferSize() const;
141
143 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
144
145 virtual void serializeSingleShape(btSerializer * serializer) const;
146 };
147
148 // clang-format off
149 // parser needs * with the name
151 struct btCollisionShapeData
152 {
153 char *m_name;
154 int m_shapeType;
155 char m_padding[4];
156 };
157 // clang-format on
158 SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
159 {
160 return sizeof(btCollisionShapeData);
161 }
162
163 #endif //BT_COLLISION_SHAPE_H
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:152
btCollisionShapeData::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:154
btCollisionShape::setUserIndex
void setUserIndex(int index)
Definition: btCollisionShape.h:130
btBroadphaseProxy::isConvex2d
static bool isConvex2d(int proxyType)
Definition: btBroadphaseProxy.h:165
btCollisionShape::m_userIndex
int m_userIndex
Definition: btCollisionShape.h:32
btCollisionShape::getUserPointer
void * getUserPointer() const
Definition: btCollisionShape.h:126
btCollisionShape::getUserIndex
int getUserIndex() const
Definition: btCollisionShape.h:135
btCollisionShape::getShapeType
int getShapeType() const
Definition: btCollisionShape.h:106
btCollisionShapeData::m_name
char * m_name
Definition: btCollisionShape.h:153
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionShape::isCompound
bool isCompound() const
Definition: btCollisionShape.h:81
btCollisionShape::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btCollisionShape.h:113
INVALID_SHAPE_PROXYTYPE
@ INVALID_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:76
btBroadphaseProxy::isCompound
static bool isCompound(int proxyType)
Definition: btBroadphaseProxy.h:150
btCollisionShape::~btCollisionShape
virtual ~btCollisionShape()
Definition: btCollisionShape.h:41
btCollisionShapeData::m_padding
char m_padding[4]
Definition: btCollisionShape.h:155
btMatrix3x3.h
btBroadphaseProxy::isPolyhedral
static bool isPolyhedral(int proxyType)
Definition: btBroadphaseProxy.h:130
btCollisionShape::m_userPointer
void * m_userPointer
Definition: btCollisionShape.h:31
btBroadphaseProxy::isConvex
static bool isConvex(int proxyType)
Definition: btBroadphaseProxy.h:135
btCollisionShape::btCollisionShape
btCollisionShape()
Definition: btCollisionShape.h:37
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btVector3.h
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btBroadphaseProxy::isSoftBody
static bool isSoftBody(int proxyType)
Definition: btBroadphaseProxy.h:155
btBroadphaseProxy::isConcave
static bool isConcave(int proxyType)
Definition: btBroadphaseProxy.h:145
btCollisionShape::getMargin
virtual btScalar getMargin() const =0
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.
btCollisionShape::isNonMoving
bool isNonMoving() const
Definition: btCollisionShape.h:73
btTransform.h
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btBroadphaseProxy::isInfinite
static bool isInfinite(int proxyType)
Definition: btBroadphaseProxy.h:160
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btCollisionShape::isInfinite
bool isInfinite() const
isInfinite is used to catch simulation error (aabb check)
Definition: btCollisionShape.h:92
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btCollisionShape::isConvex
bool isConvex() const
Definition: btCollisionShape.h:69
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btCollisionShape::isConvex2d
bool isConvex2d() const
Definition: btCollisionShape.h:64
btBroadphaseProxy.h
btSerializer
Definition: btSerializer.h:66
btCollisionShape::setMargin
virtual void setMargin(btScalar margin)=0
btCollisionShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const =0
btCollisionShape::isPolyhedral
bool isPolyhedral() const
Definition: btCollisionShape.h:59
btCollisionShape::isConcave
bool isConcave() const
Definition: btCollisionShape.h:77
btCollisionShape::setUserPointer
void setUserPointer(void *userPtr)
optional user data pointer
Definition: btCollisionShape.h:121
btBroadphaseProxy::isNonMoving
static bool isNonMoving(int proxyType)
Definition: btBroadphaseProxy.h:140
btCollisionShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)=0
btCollisionShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCollisionShape.h:158
btCollisionShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const =0
btCollisionShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btCollisionShape::isSoftBody
bool isSoftBody() const
Definition: btCollisionShape.h:86
btCollisionShape::getName
virtual const char * getName() const =0