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

Bullet Collision Detection & Physics Library

btCollisionShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15#include "BulletCollision/CollisionShapes/btCollisionShape.h"
16#include "LinearMath/btSerializer.h"
17
18/*
19 Make sure this dummy function never changes so that it
20 can be used by probes that are checking whether the
21 library is actually installed.
22*/
23extern "C"
24{
25 void btBulletCollisionProbe();
26
27 void btBulletCollisionProbe() {}
28}
29
30 void btCollisionShape::getBoundingSphere(btVector3& center, btScalar& radius) const
31{
32 btTransform tr;
33 tr.setIdentity();
34 btVector3 aabbMin, aabbMax;
35
36 getAabb(tr, aabbMin, aabbMax);
37
38 radius = (aabbMax - aabbMin).length() * btScalar(0.5);
39 center = (aabbMin + aabbMax) * btScalar(0.5);
40}
41
42 btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
43{
44 return getAngularMotionDisc() * defaultContactThreshold;
45}
46
47 btScalar btCollisionShape::getAngularMotionDisc() const
48{
50 btVector3 center;
51 btScalar disc;
52 getBoundingSphere(center, disc);
53 disc += (center).length();
54 return disc;
55}
56
57 void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const
58{
59 //start with static aabb
60 getAabb(curTrans, temporalAabbMin, temporalAabbMax);
61
62 btScalar temporalAabbMaxx = temporalAabbMax.getX();
63 btScalar temporalAabbMaxy = temporalAabbMax.getY();
64 btScalar temporalAabbMaxz = temporalAabbMax.getZ();
65 btScalar temporalAabbMinx = temporalAabbMin.getX();
66 btScalar temporalAabbMiny = temporalAabbMin.getY();
67 btScalar temporalAabbMinz = temporalAabbMin.getZ();
68
69 // add linear motion
70 btVector3 linMotion = linvel * timeStep;
72 if (linMotion.x() > btScalar(0.))
73 temporalAabbMaxx += linMotion.x();
74 else
75 temporalAabbMinx += linMotion.x();
76 if (linMotion.y() > btScalar(0.))
77 temporalAabbMaxy += linMotion.y();
78 else
79 temporalAabbMiny += linMotion.y();
80 if (linMotion.z() > btScalar(0.))
81 temporalAabbMaxz += linMotion.z();
82 else
83 temporalAabbMinz += linMotion.z();
84
85 //add conservative angular motion
86 btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
87 btVector3 angularMotion3d(angularMotion, angularMotion, angularMotion);
88 temporalAabbMin = btVector3(temporalAabbMinx, temporalAabbMiny, temporalAabbMinz);
89 temporalAabbMax = btVector3(temporalAabbMaxx, temporalAabbMaxy, temporalAabbMaxz);
90
91 temporalAabbMin -= angularMotion3d;
92 temporalAabbMax += angularMotion3d;
93}
94
96 const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
97{
98 btCollisionShapeData* shapeData = (btCollisionShapeData*)dataBuffer;
99 char* name = (char*)serializer->findNameForPointer(this);
100 shapeData->m_name = (char*)serializer->getUniquePointer(name);
101 if (shapeData->m_name)
102 {
103 serializer->serializeName(name);
104 }
105 shapeData->m_shapeType = m_shapeType;
106
107 // Fill padding with zeros to appease msan.
108 memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding));
109
110 return "btCollisionShapeData";
111}
112
113 void btCollisionShape::serializeSingleShape(btSerializer* serializer) const
114{
115 int len = calculateSerializeBufferSize();
116 btChunk* chunk = serializer->allocate(len, 1);
117 const char* structType = serialize(chunk->m_oldPtr, serializer);
118 serializer->finalizeChunk(chunk, structType, BT_SHAPE_CODE, (void*)this);
119}
btBulletCollisionProbe
void btBulletCollisionProbe()
Definition: btCollisionShape.cpp:27
btCollisionShape.h
length
btScalar length(const btQuaternion &q)
Return the length of a quaternion.
Definition: btQuaternion.h:895
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSerializer.h
BT_SHAPE_CODE
#define BT_SHAPE_CODE
Definition: btSerializer.h:117
btChunk
Definition: btSerializer.h:48
btChunk::m_oldPtr
void * m_oldPtr
Definition: btSerializer.h:52
btCollisionShape::getBoundingSphere
virtual void getBoundingSphere(btVector3 &center, btScalar &radius) const
Definition: btCollisionShape.cpp:30
btCollisionShape::calculateTemporalAabb
void calculateTemporalAabb(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0....
Definition: btCollisionShape.cpp:57
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btCollisionShape::getAngularMotionDisc
virtual btScalar getAngularMotionDisc() const
getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of...
Definition: btCollisionShape.cpp:47
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::getContactBreakingThreshold
virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const
Definition: btCollisionShape.cpp:42
btCollisionShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCollisionShape.h:169
btCollisionShape::serializeSingleShape
virtual void serializeSingleShape(btSerializer *serializer) const
Definition: btCollisionShape.cpp:113
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
btSerializer
Definition: btSerializer.h:66
btSerializer::allocate
virtual btChunk * allocate(size_t size, int numElements)=0
btSerializer::getUniquePointer
virtual void * getUniquePointer(void *oldPtr)=0
btSerializer::serializeName
virtual void serializeName(const char *ptr)=0
btSerializer::findNameForPointer
virtual const char * findNameForPointer(const void *ptr) const =0
btSerializer::finalizeChunk
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:167
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::getZ
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579
btVector3::length
btScalar length() const
Return the length of the vector.
Definition: btVector3.h:257
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
btVector3::getX
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:163
btCollisionShapeData::m_name
char * m_name
Definition: btCollisionShape.h:164
btCollisionShapeData::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:165
btCollisionShapeData::m_padding
char m_padding[4]
Definition: btCollisionShape.h:166