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

Bullet Collision Detection & Physics Library

btConvexInternalShape.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_INTERNAL_SHAPE_H
17 #define BT_CONVEX_INTERNAL_SHAPE_H
18
19 #include "btConvexShape.h"
20 #include "LinearMath/btAabbUtil2.h"
21
28 ATTRIBUTE_ALIGNED16(class)
29 btConvexInternalShape : public btConvexShape
30 {
31 protected:
32 //local scaling. collisionMargin is not scaled !
33 btVector3 m_localScaling;
34
35 btVector3 m_implicitShapeDimensions;
36
37 btScalar m_collisionMargin;
38
39 btScalar m_padding;
40
41 btConvexInternalShape();
42
43 public:
44 BT_DECLARE_ALIGNED_ALLOCATOR();
45
46 virtual ~btConvexInternalShape()
47 {
48 }
49
50 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
51
52 const btVector3& getImplicitShapeDimensions() const
53 {
54 return m_implicitShapeDimensions;
55 }
56
61 void setImplicitShapeDimensions(const btVector3& dimensions)
62 {
63 m_implicitShapeDimensions = dimensions;
64 }
65
66 void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
67 {
68 btScalar safeMargin = defaultMarginMultiplier * minDimension;
69 if (safeMargin < getMargin())
70 {
71 setMargin(safeMargin);
72 }
73 }
74 void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
75 {
76 //see http://code.google.com/p/bullet/issues/detail?id=349
77 //this margin check could could be added to other collision shapes too,
78 //or add some assert/warning somewhere
79 btScalar minDimension = halfExtents[halfExtents.minAxis()];
80 setSafeMargin(minDimension, defaultMarginMultiplier);
81 }
82
84 void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
85 {
86 getAabbSlow(t, aabbMin, aabbMax);
87 }
88
89 virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
90
91 virtual void setLocalScaling(const btVector3& scaling);
92 virtual const btVector3& getLocalScaling() const
93 {
94 return m_localScaling;
95 }
96
97 const btVector3& getLocalScalingNV() const
98 {
99 return m_localScaling;
100 }
101
102 virtual void setMargin(btScalar margin)
103 {
104 m_collisionMargin = margin;
105 }
106 virtual btScalar getMargin() const
107 {
108 return m_collisionMargin;
109 }
110
111 btScalar getMarginNV() const
112 {
113 return m_collisionMargin;
114 }
115
116 virtual int getNumPreferredPenetrationDirections() const
117 {
118 return 0;
119 }
120
121 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
122 {
123 (void)penetrationVector;
124 (void)index;
125 btAssert(0);
126 }
127
128 virtual int calculateSerializeBufferSize() const;
129
131 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
132 };
133
135 struct btConvexInternalShapeData
136 {
137 btCollisionShapeData m_collisionShapeData;
138
139 btVector3FloatData m_localScaling;
140
141 btVector3FloatData m_implicitShapeDimensions;
142
143 float m_collisionMargin;
144
145 int m_padding;
146 };
147
148 SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
149 {
150 return sizeof(btConvexInternalShapeData);
151 }
152
154 SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
155 {
156 btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*)dataBuffer;
157 btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
158
159 m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
160 m_localScaling.serializeFloat(shapeData->m_localScaling);
161 shapeData->m_collisionMargin = float(m_collisionMargin);
162
163 // Fill padding with zeros to appease msan.
164 shapeData->m_padding = 0;
165
166 return "btConvexInternalShapeData";
167 }
168
170 class btConvexInternalAabbCachingShape : public btConvexInternalShape
171 {
172 btVector3 m_localAabbMin;
173 btVector3 m_localAabbMax;
174 bool m_isLocalAabbValid;
175
176 protected:
177 btConvexInternalAabbCachingShape();
178
179 void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
180 {
181 m_isLocalAabbValid = true;
182 m_localAabbMin = aabbMin;
183 m_localAabbMax = aabbMax;
184 }
185
186 inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
187 {
188 btAssert(m_isLocalAabbValid);
189 aabbMin = m_localAabbMin;
190 aabbMax = m_localAabbMax;
191 }
192
193 inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
194 {
195 //lazy evaluation of local aabb
196 btAssert(m_isLocalAabbValid);
197 btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
198 }
199
200 public:
201 virtual void setLocalScaling(const btVector3& scaling);
202
203 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
204
205 void recalcLocalAabb();
206 };
207
208 #endif //BT_CONVEX_INTERNAL_SHAPE_H
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:163
btConvexInternalShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btConvexInternalShape.h:148
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btConvexInternalShape.h:37
btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
Definition: btConvexInternalShape.h:171
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:33
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:30
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btConvexInternalAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition: btConvexInternalShape.h:193
btConvexShape.h
btConvexInternalShape::getLocalScalingNV
const btVector3 & getLocalScalingNV() const
Definition: btConvexInternalShape.h:97
btConvexInternalShape::setImplicitShapeDimensions
void setImplicitShapeDimensions(const btVector3 &dimensions)
warning: use setImplicitShapeDimensions with care changing a collision shape while the body is in the...
Definition: btConvexInternalShape.h:61
btConvexInternalShape::getImplicitShapeDimensions
const btVector3 & getImplicitShapeDimensions() const
Definition: btConvexInternalShape.h:52
btConvexInternalAabbCachingShape::m_isLocalAabbValid
bool m_isLocalAabbValid
Definition: btConvexInternalShape.h:174
btConvexInternalShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btConvexInternalShape.h:92
btConvexInternalShape::getAabb
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btConvexInternalShape.h:84
btConvexInternalShape::~btConvexInternalShape
virtual ~btConvexInternalShape()
Definition: btConvexInternalShape.h:46
btConvexInternalAabbCachingShape::setCachedLocalAabb
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
Definition: btConvexInternalShape.h:179
btVector3FloatData
Definition: btVector3.h:1282
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btConvexInternalShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition: btConvexInternalShape.h:139
btConvexInternalAabbCachingShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btConvexInternalShape.h:173
btConvexInternalShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition: btConvexInternalShape.h:137
btConvexInternalShape::setSafeMargin
void setSafeMargin(const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
Definition: btConvexInternalShape.h:74
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition: btConvexInternalShape.h:35
btConvexInternalAabbCachingShape::getCachedLocalAabb
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btConvexInternalShape.h:186
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btAabbUtil2.h
btConvexInternalShape::setSafeMargin
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
Definition: btConvexInternalShape.h:66
btConvexInternalAabbCachingShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btConvexInternalShape.cpp:82
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConvexInternalShape.h:136
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btVector3::serializeFloat
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition: btVector3.h:1291
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition: btConvexInternalShape.h:106
btConvexInternalShapeData::m_collisionMargin
float m_collisionMargin
Definition: btConvexInternalShape.h:143
btConvexInternalAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition: btConvexInternalShape.cpp:93
btCollisionShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionShape.cpp:96
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btConvexInternalShapeData::m_padding
int m_padding
Definition: btConvexInternalShape.h:145
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape()
Definition: btConvexInternalShape.cpp:74
btSerializer
Definition: btSerializer.h:66
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btConvexInternalShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btConvexInternalShape.h:121
btConvexInternalShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btConvexInternalShape.h:102
btConvexInternalShape::m_padding
btScalar m_padding
Definition: btConvexInternalShape.h:39
btConvexInternalShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvexInternalShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition: btConvexInternalShape.h:116
btConvexInternalShape::getMarginNV
btScalar getMarginNV() const
Definition: btConvexInternalShape.h:111
btVector3::minAxis
int minAxis() const
Return the axis with the smallest value Note return values are 0,1,2 for x, y, or z.
Definition: btVector3.h:470
btConvexInternalAabbCachingShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btConvexInternalShape.h:172
btConvexInternalAabbCachingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:87
btConvexInternalShapeData::m_implicitShapeDimensions
btVector3FloatData m_implicitShapeDimensions
Definition: btConvexInternalShape.h:141
btConvexInternalShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btConvexInternalShape.h:154