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

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btMultiSphereShape.h
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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
16#ifndef BT_MULTI_SPHERE_MINKOWSKI_H
17#define BT_MULTI_SPHERE_MINKOWSKI_H
18
19#include "btConvexInternalShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21#include "LinearMath/btAlignedObjectArray.h"
22#include "LinearMath/btAabbUtil2.h"
23
26 ATTRIBUTE_ALIGNED16(class)
27 btMultiSphereShape : public btConvexInternalAabbCachingShape
28{
29 btAlignedObjectArray<btVector3> m_localPositionArray;
30 btAlignedObjectArray<btScalar> m_radiArray;
31
32public:
33 BT_DECLARE_ALIGNED_ALLOCATOR();
34
35 btMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
36
38 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
39
41 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
42
43 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
44
45 int getSphereCount() const
46 {
47 return m_localPositionArray.size();
48 }
49
50 const btVector3& getSpherePosition(int index) const
51 {
52 return m_localPositionArray[index];
53 }
54
55 btScalar getSphereRadius(int index) const
56 {
57 return m_radiArray[index];
58 }
59
60 virtual const char* getName() const
61 {
62 return "MultiSphere";
63 }
64
65 virtual int calculateSerializeBufferSize() const;
66
68 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
69};
70
71 struct btPositionAndRadius
72{
73 btVector3FloatData m_pos;
74 float m_radius;
75};
76
77// clang-format off
78
79 struct btMultiSphereShapeData
80{
81 btConvexInternalShapeData m_convexInternalShapeData;
82
83 btPositionAndRadius *m_localPositionArrayPtr;
84 int m_localPositionArraySize;
85 char m_padding[4];
86};
87
88// clang-format on
89
90 SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
91{
92 return sizeof(btMultiSphereShapeData);
93}
94
95#endif //BT_MULTI_SPHERE_MINKOWSKI_H
btAabbUtil2.h
btAlignedObjectArray.h
btBroadphaseProxy.h
btConvexInternalShape.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
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
Definition: btConvexInternalShape.h:171
btMultiSphereShape
The btMultiSphereShape represents the convex hull of a collection of spheres.
Definition: btMultiSphereShape.h:28
btMultiSphereShape::m_localPositionArray
btAlignedObjectArray< btVector3 > m_localPositionArray
Definition: btMultiSphereShape.h:29
btMultiSphereShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btMultiSphereShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btMultiSphereShape.h:90
btMultiSphereShape::getName
virtual const char * getName() const
Definition: btMultiSphereShape.h:60
btMultiSphereShape::getSphereCount
int getSphereCount() const
Definition: btMultiSphereShape.h:45
btMultiSphereShape::getSpherePosition
const btVector3 & getSpherePosition(int index) const
Definition: btMultiSphereShape.h:50
btMultiSphereShape::getSphereRadius
btScalar getSphereRadius(int index) const
Definition: btMultiSphereShape.h:55
btMultiSphereShape::m_radiArray
btAlignedObjectArray< btScalar > m_radiArray
Definition: btMultiSphereShape.h:30
btSerializer
Definition: btSerializer.h:66
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConvexInternalShape.h:136
btMultiSphereShapeData
Definition: btMultiSphereShape.h:80
btMultiSphereShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btMultiSphereShape.h:81
btMultiSphereShapeData::m_localPositionArraySize
int m_localPositionArraySize
Definition: btMultiSphereShape.h:84
btMultiSphereShapeData::m_padding
char m_padding[4]
Definition: btMultiSphereShape.h:85
btMultiSphereShapeData::m_localPositionArrayPtr
btPositionAndRadius * m_localPositionArrayPtr
Definition: btMultiSphereShape.h:83
btPositionAndRadius
Definition: btMultiSphereShape.h:72
btPositionAndRadius::m_radius
float m_radius
Definition: btMultiSphereShape.h:74
btPositionAndRadius::m_pos
btVector3FloatData m_pos
Definition: btMultiSphereShape.h:73
btVector3FloatData
Definition: btVector3.h:1282