95 lines
3.1 KiB
C++
95 lines
3.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_MULTI_SPHERE_MINKOWSKI_H
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#define BT_MULTI_SPHERE_MINKOWSKI_H
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#include "btConvexInternalShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btAabbUtil2.h"
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///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
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///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
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ATTRIBUTE_ALIGNED16(class)
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btMultiSphereShape : public btConvexInternalAabbCachingShape
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{
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btAlignedObjectArray<btVector3> m_localPositionArray;
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btAlignedObjectArray<btScalar> m_radiArray;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
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///CollisionShape Interface
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virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
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/// btConvexShape Interface
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
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int getSphereCount() const
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{
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return m_localPositionArray.size();
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}
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const btVector3& getSpherePosition(int index) const
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{
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return m_localPositionArray[index];
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}
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btScalar getSphereRadius(int index) const
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{
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return m_radiArray[index];
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}
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virtual const char* getName() const
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{
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return "MultiSphere";
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}
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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};
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struct btPositionAndRadius
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{
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btVector3FloatData m_pos;
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float m_radius;
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};
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// clang-format off
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struct btMultiSphereShapeData
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{
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btConvexInternalShapeData m_convexInternalShapeData;
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btPositionAndRadius *m_localPositionArrayPtr;
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int m_localPositionArraySize;
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char m_padding[4];
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};
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// clang-format on
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SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
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{
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return sizeof(btMultiSphereShapeData);
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}
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#endif //BT_MULTI_SPHERE_MINKOWSKI_H
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