Blender  V3.3
btMultiSphereShape.h
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. 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"
22 #include "LinearMath/btAabbUtil2.h"
23 
28 {
29  btAlignedObjectArray<btVector3> m_localPositionArray;
31 
32 public:
34 
35  btMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
36 
38  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
39 
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 
72 {
74  float m_radius;
75 };
76 
77 // clang-format off
78 
80 {
82 
85  char m_padding[4];
86 };
87 
88 // clang-format on
89 
91 {
92  return sizeof(btMultiSphereShapeData);
93 }
94 
95 #endif //BT_MULTI_SPHERE_MINKOWSKI_H
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
Definition: btBox2dShape.h:62
virtual const char * getName() const
virtual int calculateSerializeBufferSize() const
int getSphereCount() const
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
CollisionShape Interface.
Definition: btConeShape.h:54
const btVector3 & getSpherePosition(int index) const
btMultiSphereShape(const btVector3 *positions, const btScalar *radi, int numSpheres)
btScalar getSphereRadius(int index) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBox2dShape.h:71
btAlignedObjectArray< btScalar > m_radiArray
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
#define SIMD_FORCE_INLINE
Definition: btScalar.h:280
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
SIMD_FORCE_INLINE int size() const
return the number of elements in the array
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
MutableSpan< float3 > positions
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btConvexInternalShapeData m_convexInternalShapeData
btPositionAndRadius * m_localPositionArrayPtr
btVector3FloatData m_pos