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 
28 {
29 protected:
34 
35 public:
37 
38  btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1), m_userIndex2(-1)
39  {
40  }
41 
43  {
44  }
45 
47  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
48 
49  virtual void getBoundingSphere(btVector3 & center, btScalar & radius) const;
50 
52  virtual btScalar getAngularMotionDisc() const;
53 
54  virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
55 
58  void calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const;
59 
61  {
62  return btBroadphaseProxy::isPolyhedral(getShapeType());
63  }
64 
66  {
67  return btBroadphaseProxy::isConvex2d(getShapeType());
68  }
69 
71  {
72  return btBroadphaseProxy::isConvex(getShapeType());
73  }
75  {
76  return btBroadphaseProxy::isNonMoving(getShapeType());
77  }
79  {
80  return btBroadphaseProxy::isConcave(getShapeType());
81  }
83  {
84  return btBroadphaseProxy::isCompound(getShapeType());
85  }
86 
88  {
89  return btBroadphaseProxy::isSoftBody(getShapeType());
90  }
91 
94  {
95  return btBroadphaseProxy::isInfinite(getShapeType());
96  }
97 
98 #ifndef __SPU__
99  virtual void setLocalScaling(const btVector3& scaling) = 0;
100  virtual const btVector3& getLocalScaling() const = 0;
101  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const = 0;
102 
103  //debugging support
104  virtual const char* getName() const = 0;
105 #endif //__SPU__
106 
107  int getShapeType() const
108  {
109  return m_shapeType;
110  }
111 
115  {
116  return btVector3(1, 1, 1);
117  }
118  virtual void setMargin(btScalar margin) = 0;
119  virtual btScalar getMargin() const = 0;
120 
122  void setUserPointer(void* userPtr)
123  {
124  m_userPointer = userPtr;
125  }
126 
127  void* getUserPointer() const
128  {
129  return m_userPointer;
130  }
131  void setUserIndex(int index)
132  {
133  m_userIndex = index;
134  }
135 
136  int getUserIndex() const
137  {
138  return m_userIndex;
139  }
140 
141  void setUserIndex2(int index)
142  {
143  m_userIndex2 = index;
144  }
145 
146  int getUserIndex2() const
147  {
148  return m_userIndex2;
149  }
150 
151  virtual int calculateSerializeBufferSize() const;
152 
154  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
155 
156  virtual void serializeSingleShape(btSerializer * serializer) const;
157 };
158 
159 // clang-format off
160 // parser needs * with the name
163 {
164  char *m_name;
166  char m_padding[4];
167 };
168 // clang-format on
170 {
171  return sizeof(btCollisionShapeData);
172 }
173 
174 #endif //BT_COLLISION_SHAPE_H
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:163
btCollisionShapeData::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:165
btCollisionShape::setUserIndex
void setUserIndex(int index)
Definition: btCollisionShape.h:131
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:127
btCollisionShape::getUserIndex
int getUserIndex() const
Definition: btCollisionShape.h:136
btCollisionShape::getShapeType
int getShapeType() const
Definition: btCollisionShape.h:107
btCollisionShapeData::m_name
char * m_name
Definition: btCollisionShape.h:164
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:82
btCollisionShape::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btCollisionShape.h:114
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:42
btCollisionShapeData::m_padding
char m_padding[4]
Definition: btCollisionShape.h:166
btCollisionShape::m_userIndex2
int m_userIndex2
Definition: btCollisionShape.h:33
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::getUserIndex2
int getUserIndex2() const
Definition: btCollisionShape.h:146
btCollisionShape::btCollisionShape
btCollisionShape()
Definition: btCollisionShape.h:38
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btCollisionShape::setUserIndex2
void setUserIndex2(int index)
Definition: btCollisionShape.h:141
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:74
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:93
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btCollisionShape::isConvex
bool isConvex() const
Definition: btCollisionShape.h:70
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btCollisionShape::isConvex2d
bool isConvex2d() const
Definition: btCollisionShape.h:65
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:60
btCollisionShape::isConcave
bool isConcave() const
Definition: btCollisionShape.h:78
btCollisionShape::setUserPointer
void setUserPointer(void *userPtr)
optional user data pointer
Definition: btCollisionShape.h:122
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:169
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:87
btCollisionShape::getName
virtual const char * getName() const =0