Bullet Collision Detection & Physics Library: btCompoundShape.cpp Source File

Bullet Collision Detection & Physics Library

btCompoundShape.cpp
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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 #include "btCompoundShape.h"
17 #include "btCollisionShape.h"
18 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
19 #include "LinearMath/btSerializer.h"
20
21 btCompoundShape::btCompoundShape(bool enableDynamicAabbTree, const int initialChildCapacity)
22 : m_localAabbMin(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)),
23 m_localAabbMax(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT)),
24 m_dynamicAabbTree(0),
25 m_updateRevision(1),
26 m_collisionMargin(btScalar(0.)),
27 m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.))
28 {
29 m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
30
31 if (enableDynamicAabbTree)
32 {
33 void* mem = btAlignedAlloc(sizeof(btDbvt), 16);
34 m_dynamicAabbTree = new (mem) btDbvt();
35 btAssert(mem == m_dynamicAabbTree);
36 }
37
38 m_children.reserve(initialChildCapacity);
39 }
40
41 btCompoundShape::~btCompoundShape()
42 {
43 if (m_dynamicAabbTree)
44 {
45 m_dynamicAabbTree->~btDbvt();
46 btAlignedFree(m_dynamicAabbTree);
47 }
48 }
49
50 void btCompoundShape::addChildShape(const btTransform& localTransform, btCollisionShape* shape)
51 {
52 m_updateRevision++;
53 //m_childTransforms.push_back(localTransform);
54 //m_childShapes.push_back(shape);
55 btCompoundShapeChild child;
56 child.m_node = 0;
57 child.m_transform = localTransform;
58 child.m_childShape = shape;
59 child.m_childShapeType = shape->getShapeType();
60 child.m_childMargin = shape->getMargin();
61
62 //extend the local aabbMin/aabbMax
63 btVector3 localAabbMin, localAabbMax;
64 shape->getAabb(localTransform, localAabbMin, localAabbMax);
65 for (int i = 0; i < 3; i++)
66 {
67 if (m_localAabbMin[i] > localAabbMin[i])
68 {
69 m_localAabbMin[i] = localAabbMin[i];
70 }
71 if (m_localAabbMax[i] < localAabbMax[i])
72 {
73 m_localAabbMax[i] = localAabbMax[i];
74 }
75 }
76 if (m_dynamicAabbTree)
77 {
78 const btDbvtVolume bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
79 size_t index = m_children.size();
80 child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index));
81 }
82
83 m_children.push_back(child);
84 }
85
86 void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb)
87 {
88 m_children[childIndex].m_transform = newChildTransform;
89
90 if (m_dynamicAabbTree)
91 {
93 btVector3 localAabbMin, localAabbMax;
94 m_children[childIndex].m_childShape->getAabb(newChildTransform, localAabbMin, localAabbMax);
95 ATTRIBUTE_ALIGNED16(btDbvtVolume)
96 bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
97 //int index = m_children.size()-1;
98 m_dynamicAabbTree->update(m_children[childIndex].m_node, bounds);
99 }
100
101 if (shouldRecalculateLocalAabb)
102 {
103 recalculateLocalAabb();
104 }
105 }
106
107 void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
108 {
109 m_updateRevision++;
110 btAssert(childShapeIndex >= 0 && childShapeIndex < m_children.size());
111 if (m_dynamicAabbTree)
112 {
113 m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node);
114 }
115 m_children.swap(childShapeIndex, m_children.size() - 1);
116 if (m_dynamicAabbTree)
117 m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex;
118 m_children.pop_back();
119 }
120
121 void btCompoundShape::removeChildShape(btCollisionShape* shape)
122 {
123 m_updateRevision++;
124 // Find the children containing the shape specified, and remove those children.
125 //note: there might be multiple children using the same shape!
126 for (int i = m_children.size() - 1; i >= 0; i--)
127 {
128 if (m_children[i].m_childShape == shape)
129 {
130 removeChildShapeByIndex(i);
131 }
132 }
133
134 recalculateLocalAabb();
135 }
136
137 void btCompoundShape::recalculateLocalAabb()
138 {
139 // Recalculate the local aabb
140 // Brute force, it iterates over all the shapes left.
141
142 m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
143 m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
144
145 //extend the local aabbMin/aabbMax
146 for (int j = 0; j < m_children.size(); j++)
147 {
148 btVector3 localAabbMin, localAabbMax;
149 m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
150 for (int i = 0; i < 3; i++)
151 {
152 if (m_localAabbMin[i] > localAabbMin[i])
153 m_localAabbMin[i] = localAabbMin[i];
154 if (m_localAabbMax[i] < localAabbMax[i])
155 m_localAabbMax[i] = localAabbMax[i];
156 }
157 }
158 }
159
161 void btCompoundShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
162 {
163 btVector3 localHalfExtents = btScalar(0.5) * (m_localAabbMax - m_localAabbMin);
164 btVector3 localCenter = btScalar(0.5) * (m_localAabbMax + m_localAabbMin);
165
166 //avoid an illegal AABB when there are no children
167 if (!m_children.size())
168 {
169 localHalfExtents.setValue(0, 0, 0);
170 localCenter.setValue(0, 0, 0);
171 }
172 localHalfExtents += btVector3(getMargin(), getMargin(), getMargin());
173
174 btMatrix3x3 abs_b = trans.getBasis().absolute();
175
176 btVector3 center = trans(localCenter);
177
178 btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
179 aabbMin = center - extent;
180 aabbMax = center + extent;
181 }
182
183 void btCompoundShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
184 {
185 //approximation: take the inertia from the aabb for now
186 btTransform ident;
187 ident.setIdentity();
188 btVector3 aabbMin, aabbMax;
189 getAabb(ident, aabbMin, aabbMax);
190
191 btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
192
193 btScalar lx = btScalar(2.) * (halfExtents.x());
194 btScalar ly = btScalar(2.) * (halfExtents.y());
195 btScalar lz = btScalar(2.) * (halfExtents.z());
196
197 inertia[0] = mass / (btScalar(12.0)) * (ly * ly + lz * lz);
198 inertia[1] = mass / (btScalar(12.0)) * (lx * lx + lz * lz);
199 inertia[2] = mass / (btScalar(12.0)) * (lx * lx + ly * ly);
200 }
201
202 void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const
203 {
204 int n = m_children.size();
205
206 btScalar totalMass = 0;
207 btVector3 center(0, 0, 0);
208 int k;
209
210 for (k = 0; k < n; k++)
211 {
212 btAssert(masses[k] > 0);
213 center += m_children[k].m_transform.getOrigin() * masses[k];
214 totalMass += masses[k];
215 }
216
217 btAssert(totalMass > 0);
218
219 center /= totalMass;
220 principal.setOrigin(center);
221
222 btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
223 for (k = 0; k < n; k++)
224 {
225 btVector3 i;
226 m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
227
228 const btTransform& t = m_children[k].m_transform;
229 btVector3 o = t.getOrigin() - center;
230
231 //compute inertia tensor in coordinate system of compound shape
232 btMatrix3x3 j = t.getBasis().transpose();
233 j[0] *= i[0];
234 j[1] *= i[1];
235 j[2] *= i[2];
236 j = t.getBasis() * j;
237
238 //add inertia tensor
239 tensor[0] += j[0];
240 tensor[1] += j[1];
241 tensor[2] += j[2];
242
243 //compute inertia tensor of pointmass at o
244 btScalar o2 = o.length2();
245 j[0].setValue(o2, 0, 0);
246 j[1].setValue(0, o2, 0);
247 j[2].setValue(0, 0, o2);
248 j[0] += o * -o.x();
249 j[1] += o * -o.y();
250 j[2] += o * -o.z();
251
252 //add inertia tensor of pointmass
253 tensor[0] += masses[k] * j[0];
254 tensor[1] += masses[k] * j[1];
255 tensor[2] += masses[k] * j[2];
256 }
257
258 tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
259 inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
260 }
261
262 void btCompoundShape::setLocalScaling(const btVector3& scaling)
263 {
264 for (int i = 0; i < m_children.size(); i++)
265 {
266 btTransform childTrans = getChildTransform(i);
267 btVector3 childScale = m_children[i].m_childShape->getLocalScaling();
268 // childScale = childScale * (childTrans.getBasis() * scaling);
269 childScale = childScale * scaling / m_localScaling;
270 m_children[i].m_childShape->setLocalScaling(childScale);
271 childTrans.setOrigin((childTrans.getOrigin()) * scaling / m_localScaling);
272 updateChildTransform(i, childTrans, false);
273 }
274
275 m_localScaling = scaling;
276 recalculateLocalAabb();
277 }
278
279 void btCompoundShape::createAabbTreeFromChildren()
280 {
281 if (!m_dynamicAabbTree)
282 {
283 void* mem = btAlignedAlloc(sizeof(btDbvt), 16);
284 m_dynamicAabbTree = new (mem) btDbvt();
285 btAssert(mem == m_dynamicAabbTree);
286
287 for (int index = 0; index < m_children.size(); index++)
288 {
289 btCompoundShapeChild& child = m_children[index];
290
291 //extend the local aabbMin/aabbMax
292 btVector3 localAabbMin, localAabbMax;
293 child.m_childShape->getAabb(child.m_transform, localAabbMin, localAabbMax);
294
295 const btDbvtVolume bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
296 size_t index2 = index;
297 child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2));
298 }
299 }
300 }
301
303 const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
304 {
305 btCompoundShapeData* shapeData = (btCompoundShapeData*)dataBuffer;
306 btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
307
308 shapeData->m_collisionMargin = float(m_collisionMargin);
309 shapeData->m_numChildShapes = m_children.size();
310 shapeData->m_childShapePtr = 0;
311 if (shapeData->m_numChildShapes)
312 {
313 btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData), shapeData->m_numChildShapes);
314 btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
315 shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr);
316
317 for (int i = 0; i < shapeData->m_numChildShapes; i++, memPtr++)
318 {
319 memPtr->m_childMargin = float(m_children[i].m_childMargin);
320 memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape);
321 //don't serialize shapes that already have been serialized
322 if (!serializer->findPointer(m_children[i].m_childShape))
323 {
324 btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(), 1);
325 const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr, serializer);
326 serializer->finalizeChunk(chunk, structType, BT_SHAPE_CODE, m_children[i].m_childShape);
327 }
328
329 memPtr->m_childShapeType = m_children[i].m_childShapeType;
330 m_children[i].m_transform.serializeFloat(memPtr->m_transform);
331 }
332 serializer->finalizeChunk(chunk, "btCompoundShapeChildData", BT_ARRAY_CODE, chunk->m_oldPtr);
333 }
334 return "btCompoundShapeData";
335 }
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:163
btCompoundShapeChildData::m_childShape
btCollisionShapeData * m_childShape
Definition: btCompoundShape.h:182
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:47
btCollisionShape.h
btCollisionShape::getShapeType
int getShapeType() const
Definition: btCollisionShape.h:107
btCompoundShape::recalculateLocalAabb
virtual void recalculateLocalAabb()
Re-calculate the local Aabb.
Definition: btCompoundShape.cpp:137
btCompoundShape::btCompoundShape
btCompoundShape(bool enableDynamicAabbTree=true, const int initialChildCapacity=0)
Definition: btCompoundShape.cpp:21
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:720
btCompoundShape::getChildTransform
btTransform & getChildTransform(int index)
Definition: btCompoundShape.h:100
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCompoundShapeChild::m_node
struct btDbvtNode * m_node
Definition: btCompoundShape.h:39
btCompoundShape.h
btCompoundShape::getMargin
virtual btScalar getMargin() const
Definition: btCompoundShape.h:137
btCompoundShapeChildData::m_transform
btTransformFloatData m_transform
Definition: btCompoundShape.h:181
btCompoundShape::removeChildShapeByIndex
void removeChildShapeByIndex(int childShapeindex)
Definition: btCompoundShape.cpp:107
btSerializer::getUniquePointer
virtual void * getUniquePointer(void *oldPtr)=0
btCompoundShape::m_updateRevision
int m_updateRevision
increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be up...
Definition: btCompoundShape.h:66
btChunk
Definition: btSerializer.h:48
btMatrix3x3::diagonalize
void diagonalize(btMatrix3x3 &rot, btScalar threshold, int maxSteps)
diagonalizes this matrix by the Jacobi method.
Definition: btMatrix3x3.h:716
btCompoundShape::removeChildShape
virtual void removeChildShape(btCollisionShape *shape)
Remove all children shapes that contain the specified shape.
Definition: btCompoundShape.cpp:121
BT_SHAPE_CODE
#define BT_SHAPE_CODE
Definition: btSerializer.h:117
btCompoundShapeChild::m_transform
btTransform m_transform
Definition: btCompoundShape.h:35
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:46
btCompoundShape::~btCompoundShape
virtual ~btCompoundShape()
Definition: btCompoundShape.cpp:41
btDbvt::~btDbvt
~btDbvt()
Definition: btDbvt.cpp:471
btCompoundShape::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: btCompoundShape.cpp:161
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
btCompoundShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btCompoundShape.cpp:183
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btCompoundShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCompoundShape.cpp:303
btDbvt::update
void update(btDbvtNode *leaf, int lookahead=-1)
Definition: btDbvt.cpp:544
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btCollisionShape::getMargin
virtual btScalar getMargin() const =0
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
btAlignedObjectArray::swap
void swap(int index0, int index1)
Definition: btAlignedObjectArray.h:382
btDbvt
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
Definition: btDbvt.h:229
btCompoundShapeChild::m_childShapeType
int m_childShapeType
Definition: btCompoundShape.h:37
btCompoundShape::createAabbTreeFromChildren
void createAabbTreeFromChildren()
Definition: btCompoundShape.cpp:279
bounds
static btDbvtVolume bounds(btDbvtNode **leaves, int count)
Definition: btDbvt.cpp:299
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
btCompoundShapeData::m_collisionMargin
float m_collisionMargin
Definition: btCompoundShape.h:196
btCompoundShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btCompoundShape.h:61
btAlignedObjectArray::pop_back
void pop_back()
Definition: btAlignedObjectArray.h:185
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.
btCompoundShapeData::m_childShapePtr
btCompoundShapeChildData * m_childShapePtr
Definition: btCompoundShape.h:192
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
btMatrix3x3::transpose
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition: btMatrix3x3.h:1049
btCompoundShape::calculatePrincipalAxisTransform
void calculatePrincipalAxisTransform(const btScalar *masses, btTransform &principal, btVector3 &inertia) const
computes the exact moment of inertia and the transform from the coordinate system defined by the prin...
Definition: btCompoundShape.cpp:202
btSerializer.h
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btSerializer::finalizeChunk
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
btCompoundShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btCompoundShape.cpp:262
btCompoundShapeData::m_numChildShapes
int m_numChildShapes
Definition: btCompoundShape.h:194
btCompoundShape::m_children
btAlignedObjectArray< btCompoundShapeChild > m_children
Definition: btCompoundShape.h:59
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
btCompoundShape::m_localScaling
btVector3 m_localScaling
Definition: btCompoundShape.h:70
btDbvtAabbMm::FromMM
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
Definition: btDbvt.h:479
btChunk::m_oldPtr
void * m_oldPtr
Definition: btSerializer.h:52
btCompoundShape::m_dynamicAabbTree
btDbvt * m_dynamicAabbTree
Definition: btCompoundShape.h:63
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
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
btMatrix3x3::setValue
void setValue(const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
Set the values of the matrix explicitly (row major)
Definition: btMatrix3x3.h:204
btCompoundShapeChild::m_childShape
btCollisionShape * m_childShape
Definition: btCompoundShape.h:36
btCompoundShapeChildData::m_childShapeType
int m_childShapeType
Definition: btCompoundShape.h:183
btSerializer
Definition: btSerializer.h:66
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
btCompoundShape::updateChildTransform
void updateChildTransform(int childIndex, const btTransform &newChildTransform, bool shouldRecalculateLocalAabb=true)
set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
Definition: btCompoundShape.cpp:86
BT_ARRAY_CODE
#define BT_ARRAY_CODE
Definition: btSerializer.h:118
btCompoundShape::addChildShape
void addChildShape(const btTransform &localTransform, btCollisionShape *shape)
Definition: btCompoundShape.cpp:50
btAlignedObjectArray::reserve
void reserve(int _Count)
Definition: btAlignedObjectArray.h:280
btCompoundShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btCompoundShape.h:68
btCompoundShapeChild::m_childMargin
btScalar m_childMargin
Definition: btCompoundShape.h:38
btCompoundShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btCompoundShape.h:60
btCompoundShapeChild
Definition: btCompoundShape.h:32
btDbvtAabbMm
Definition: btDbvt.h:132
btMatrix3x3::absolute
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:1028
btDbvt::insert
btDbvtNode * insert(const btDbvtVolume &box, void *data)
Definition: btDbvt.cpp:535
btSerializer::findPointer
virtual void * findPointer(void *oldPtr)=0
btCompoundShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition: btCompoundShape.h:190
btCompoundShapeChildData::m_childMargin
float m_childMargin
Definition: btCompoundShape.h:184
btCompoundShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCompoundShape.h:189
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btDbvt::remove
void remove(btDbvtNode *leaf)
Definition: btDbvt.cpp:611
btTransform::setOrigin
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:146
btSerializer::allocate
virtual btChunk * allocate(size_t size, int numElements)=0
btDbvt.h
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btCompoundShapeChildData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCompoundShape.h:180
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251
COMPOUND_SHAPE_PROXYTYPE
@ COMPOUND_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:71