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

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btScaledBvhTriangleMeshShape.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_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
17#define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
18
19#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
20
23 ATTRIBUTE_ALIGNED16(class)
24 btScaledBvhTriangleMeshShape : public btConcaveShape
25{
26 btVector3 m_localScaling;
27
28 btBvhTriangleMeshShape* m_bvhTriMeshShape;
29
30public:
31 BT_DECLARE_ALIGNED_ALLOCATOR();
32
33 btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape * childShape, const btVector3& localScaling);
34
35 virtual ~btScaledBvhTriangleMeshShape();
36
37 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
38 virtual void setLocalScaling(const btVector3& scaling);
39 virtual const btVector3& getLocalScaling() const;
40 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
41
42 virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
43
44 btBvhTriangleMeshShape* getChildShape()
45 {
46 return m_bvhTriMeshShape;
47 }
48
49 const btBvhTriangleMeshShape* getChildShape() const
50 {
51 return m_bvhTriMeshShape;
52 }
53
54 //debugging
55 virtual const char* getName() const { return "SCALEDBVHTRIANGLEMESH"; }
56
57 virtual int calculateSerializeBufferSize() const;
58
60 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
61};
62
64 struct btScaledTriangleMeshShapeData
65{
66 btTriangleMeshShapeData m_trimeshShapeData;
67
68 btVector3FloatData m_localScaling;
69};
70
71 SIMD_FORCE_INLINE int btScaledBvhTriangleMeshShape::calculateSerializeBufferSize() const
72{
73 return sizeof(btScaledTriangleMeshShapeData);
74}
75
77 SIMD_FORCE_INLINE const char* btScaledBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
78{
79 btScaledTriangleMeshShapeData* scaledMeshData = (btScaledTriangleMeshShapeData*)dataBuffer;
80 m_bvhTriMeshShape->serialize(&scaledMeshData->m_trimeshShapeData, serializer);
81 scaledMeshData->m_trimeshShapeData.m_collisionShapeData.m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
82 m_localScaling.serializeFloat(scaledMeshData->m_localScaling);
83 return "btScaledTriangleMeshShapeData";
84}
85
86#endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
@ SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:55
btBvhTriangleMeshShape.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
btBvhTriangleMeshShape
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
Definition: btBvhTriangleMeshShape.h:36
btBvhTriangleMeshShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btBvhTriangleMeshShape.cpp:370
btConcaveShape
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
Definition: btConcaveShape.h:39
btScaledBvhTriangleMeshShape
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
Definition: btScaledBvhTriangleMeshShape.h:25
btScaledBvhTriangleMeshShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btScaledBvhTriangleMeshShape.h:71
btScaledBvhTriangleMeshShape::m_bvhTriMeshShape
btBvhTriangleMeshShape * m_bvhTriMeshShape
Definition: btScaledBvhTriangleMeshShape.h:28
btScaledBvhTriangleMeshShape::getName
virtual const char * getName() const
Definition: btScaledBvhTriangleMeshShape.h:55
btScaledBvhTriangleMeshShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btScaledBvhTriangleMeshShape::getChildShape
btBvhTriangleMeshShape * getChildShape()
Definition: btScaledBvhTriangleMeshShape.h:44
btScaledBvhTriangleMeshShape::m_localScaling
btVector3 m_localScaling
Definition: btScaledBvhTriangleMeshShape.h:26
btScaledBvhTriangleMeshShape::getChildShape
const btBvhTriangleMeshShape * getChildShape() const
Definition: btScaledBvhTriangleMeshShape.h:49
btScaledBvhTriangleMeshShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btScaledBvhTriangleMeshShape.h:77
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
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:24
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::serializeFloat
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition: btVector3.h:1291
btCollisionShapeData::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:165
btScaledTriangleMeshShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btScaledBvhTriangleMeshShape.h:65
btScaledTriangleMeshShapeData::m_trimeshShapeData
btTriangleMeshShapeData m_trimeshShapeData
Definition: btScaledBvhTriangleMeshShape.h:66
btScaledTriangleMeshShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition: btScaledBvhTriangleMeshShape.h:68
btTriangleMeshShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btBvhTriangleMeshShape.h:121
btTriangleMeshShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition: btBvhTriangleMeshShape.h:122
btVector3FloatData
Definition: btVector3.h:1282