e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
170 lines
4.9 KiB
C++
170 lines
4.9 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_COLLISION_SHAPE_H
|
|
#define BT_COLLISION_SHAPE_H
|
|
|
|
#include "LinearMath/btTransform.h"
|
|
#include "LinearMath/btVector3.h"
|
|
#include "LinearMath/btMatrix3x3.h"
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
|
|
class btSerializer;
|
|
|
|
|
|
///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
|
|
ATTRIBUTE_ALIGNED16(class) btCollisionShape
|
|
{
|
|
protected:
|
|
int m_shapeType;
|
|
void* m_userPointer;
|
|
int m_userIndex;
|
|
|
|
public:
|
|
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
|
|
{
|
|
}
|
|
|
|
virtual ~btCollisionShape()
|
|
{
|
|
}
|
|
|
|
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
|
|
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
|
|
|
|
virtual void getBoundingSphere(btVector3& center,btScalar& radius) const;
|
|
|
|
///getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.
|
|
virtual btScalar getAngularMotionDisc() const;
|
|
|
|
virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
|
|
|
|
|
|
///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
|
|
///result is conservative
|
|
void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
|
|
|
|
|
|
|
|
SIMD_FORCE_INLINE bool isPolyhedral() const
|
|
{
|
|
return btBroadphaseProxy::isPolyhedral(getShapeType());
|
|
}
|
|
|
|
SIMD_FORCE_INLINE bool isConvex2d() const
|
|
{
|
|
return btBroadphaseProxy::isConvex2d(getShapeType());
|
|
}
|
|
|
|
SIMD_FORCE_INLINE bool isConvex() const
|
|
{
|
|
return btBroadphaseProxy::isConvex(getShapeType());
|
|
}
|
|
SIMD_FORCE_INLINE bool isNonMoving() const
|
|
{
|
|
return btBroadphaseProxy::isNonMoving(getShapeType());
|
|
}
|
|
SIMD_FORCE_INLINE bool isConcave() const
|
|
{
|
|
return btBroadphaseProxy::isConcave(getShapeType());
|
|
}
|
|
SIMD_FORCE_INLINE bool isCompound() const
|
|
{
|
|
return btBroadphaseProxy::isCompound(getShapeType());
|
|
}
|
|
|
|
SIMD_FORCE_INLINE bool isSoftBody() const
|
|
{
|
|
return btBroadphaseProxy::isSoftBody(getShapeType());
|
|
}
|
|
|
|
///isInfinite is used to catch simulation error (aabb check)
|
|
SIMD_FORCE_INLINE bool isInfinite() const
|
|
{
|
|
return btBroadphaseProxy::isInfinite(getShapeType());
|
|
}
|
|
|
|
#ifndef __SPU__
|
|
virtual void setLocalScaling(const btVector3& scaling) =0;
|
|
virtual const btVector3& getLocalScaling() const =0;
|
|
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
|
|
|
|
|
|
//debugging support
|
|
virtual const char* getName()const =0 ;
|
|
#endif //__SPU__
|
|
|
|
|
|
int getShapeType() const { return m_shapeType; }
|
|
|
|
///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
|
|
///See Bullet/Demos/RollingFrictionDemo for an example
|
|
virtual btVector3 getAnisotropicRollingFrictionDirection() const
|
|
{
|
|
return btVector3(1,1,1);
|
|
}
|
|
virtual void setMargin(btScalar margin) = 0;
|
|
virtual btScalar getMargin() const = 0;
|
|
|
|
|
|
///optional user data pointer
|
|
void setUserPointer(void* userPtr)
|
|
{
|
|
m_userPointer = userPtr;
|
|
}
|
|
|
|
void* getUserPointer() const
|
|
{
|
|
return m_userPointer;
|
|
}
|
|
void setUserIndex(int index)
|
|
{
|
|
m_userIndex = index;
|
|
}
|
|
|
|
int getUserIndex() const
|
|
{
|
|
return m_userIndex;
|
|
}
|
|
|
|
|
|
virtual int calculateSerializeBufferSize() const;
|
|
|
|
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
|
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
|
|
|
|
virtual void serializeSingleShape(btSerializer* serializer) const;
|
|
|
|
};
|
|
|
|
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
|
struct btCollisionShapeData
|
|
{
|
|
char *m_name;
|
|
int m_shapeType;
|
|
char m_padding[4];
|
|
};
|
|
|
|
SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
|
|
{
|
|
return sizeof(btCollisionShapeData);
|
|
}
|
|
|
|
|
|
|
|
#endif //BT_COLLISION_SHAPE_H
|
|
|