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

Bullet Collision Detection & Physics Library

btConvexHullShape.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_HULL_SHAPE_H
17 #define BT_CONVEX_HULL_SHAPE_H
18
19 #include "btPolyhedralConvexShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21 #include "LinearMath/btAlignedObjectArray.h"
22
25 ATTRIBUTE_ALIGNED16(class)
26 btConvexHullShape : public btPolyhedralConvexAabbCachingShape
27 {
28 btAlignedObjectArray<btVector3> m_unscaledPoints;
29
30 public:
31 BT_DECLARE_ALIGNED_ALLOCATOR();
32
36 btConvexHullShape(const btScalar* points = 0, int numPoints = 0, int stride = sizeof(btVector3));
37
38 void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
39
40 btVector3* getUnscaledPoints()
41 {
42 return &m_unscaledPoints[0];
43 }
44
45 const btVector3* getUnscaledPoints() const
46 {
47 return &m_unscaledPoints[0];
48 }
49
51 const btVector3* getPoints() const
52 {
53 return getUnscaledPoints();
54 }
55
56 void optimizeConvexHull();
57
58 SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
59 {
60 return m_unscaledPoints[i] * m_localScaling;
61 }
62
63 SIMD_FORCE_INLINE int getNumPoints() const
64 {
65 return m_unscaledPoints.size();
66 }
67
68 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
69 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
70 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
71
72 virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
73
74 //debugging
75 virtual const char* getName() const { return "Convex"; }
76
77 virtual int getNumVertices() const;
78 virtual int getNumEdges() const;
79 virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
80 virtual void getVertex(int i, btVector3& vtx) const;
81 virtual int getNumPlanes() const;
82 virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
83 virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
84
86 virtual void setLocalScaling(const btVector3& scaling);
87
88 virtual int calculateSerializeBufferSize() const;
89
91 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
92 };
93
94 // clang-format off
95
97 struct btConvexHullShapeData
98 {
99 btConvexInternalShapeData m_convexInternalShapeData;
100
101 btVector3FloatData *m_unscaledPointsFloatPtr;
102 btVector3DoubleData *m_unscaledPointsDoublePtr;
103
104 int m_numUnscaledPoints;
105 char m_padding3[4];
106
107 };
108
109 // clang-format on
110
111 SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
112 {
113 return sizeof(btConvexHullShapeData);
114 }
115
116 #endif //BT_CONVEX_HULL_SHAPE_H
btAlignedObjectArray.h
btBroadphaseProxy.h
addPoint
static void addPoint(unsigned int &vcount, btVector3 *p, btScalar x, btScalar y, btScalar z)
Definition: btConvexHull.cpp:802
btPolyhedralConvexShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btAlignedObjectArray< btVector3 >
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btConvexHullShape
The btConvexHullShape implements an implicit convex hull of an array of vertices.
Definition: btConvexHullShape.h:27
btConvexHullShape::m_unscaledPoints
btAlignedObjectArray< btVector3 > m_unscaledPoints
Definition: btConvexHullShape.h:28
btConvexHullShape::getUnscaledPoints
const btVector3 * getUnscaledPoints() const
Definition: btConvexHullShape.h:45
btConvexHullShape::getName
virtual const char * getName() const
Definition: btConvexHullShape.h:75
btConvexHullShape::getUnscaledPoints
btVector3 * getUnscaledPoints()
Definition: btConvexHullShape.h:40
btConvexHullShape::getScaledPoint
btVector3 getScaledPoint(int i) const
Definition: btConvexHullShape.h:58
btConvexHullShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btConvexHullShape.h:111
btConvexHullShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvexHullShape::getPoints
const btVector3 * getPoints() const
getPoints is obsolete, please use getUnscaledPoints
Definition: btConvexHullShape.h:51
btConvexHullShape::getNumPoints
int getNumPoints() const
Definition: btConvexHullShape.h:63
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:68
btSerializer
Definition: btSerializer.h:66
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
btConvexHullShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConvexHullShape.h:98
btConvexHullShapeData::m_unscaledPointsDoublePtr
btVector3DoubleData * m_unscaledPointsDoublePtr
Definition: btConvexHullShape.h:102
btConvexHullShapeData::m_unscaledPointsFloatPtr
btVector3FloatData * m_unscaledPointsFloatPtr
Definition: btConvexHullShape.h:101
btConvexHullShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btConvexHullShape.h:99
btConvexHullShapeData::m_padding3
char m_padding3[4]
Definition: btConvexHullShape.h:105
btConvexHullShapeData::m_numUnscaledPoints
int m_numUnscaledPoints
Definition: btConvexHullShape.h:104
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConvexInternalShape.h:136
btVector3DoubleData
Definition: btVector3.h:1287
btVector3FloatData
Definition: btVector3.h:1282