Blender  V3.3
btConvexInternalShape.h
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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_CONVEX_INTERNAL_SHAPE_H
17 #define BT_CONVEX_INTERNAL_SHAPE_H
18 
19 #include "btConvexShape.h"
20 #include "LinearMath/btAabbUtil2.h"
21 
30 {
31 protected:
32  //local scaling. collisionMargin is not scaled !
34 
36 
38 
40 
42 
43 public:
45 
47  {
48  }
49 
50  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
51 
53  {
55  }
56 
61  void setImplicitShapeDimensions(const btVector3& dimensions)
62  {
63  m_implicitShapeDimensions = dimensions;
64  }
65 
66  void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
67  {
68  btScalar safeMargin = defaultMarginMultiplier * minDimension;
69  if (safeMargin < getMargin())
70  {
71  setMargin(safeMargin);
72  }
73  }
74  void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
75  {
76  //see http://code.google.com/p/bullet/issues/detail?id=349
77  //this margin check could could be added to other collision shapes too,
78  //or add some assert/warning somewhere
79  btScalar minDimension = halfExtents[halfExtents.minAxis()];
80  setSafeMargin(minDimension, defaultMarginMultiplier);
81  }
82 
84  void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
85  {
86  getAabbSlow(t, aabbMin, aabbMax);
87  }
88 
89  virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
90 
91  virtual void setLocalScaling(const btVector3& scaling);
92  virtual const btVector3& getLocalScaling() const
93  {
94  return m_localScaling;
95  }
96 
98  {
99  return m_localScaling;
100  }
101 
102  virtual void setMargin(btScalar margin)
103  {
104  m_collisionMargin = margin;
105  }
106  virtual btScalar getMargin() const
107  {
108  return m_collisionMargin;
109  }
110 
112  {
113  return m_collisionMargin;
114  }
115 
117  {
118  return 0;
119  }
120 
121  virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
122  {
123  (void)penetrationVector;
124  (void)index;
125  btAssert(0);
126  }
127 
128  virtual int calculateSerializeBufferSize() const;
129 
131  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
132 };
133 
136 {
138 
140 
142 
144 
146 };
147 
149 {
150  return sizeof(btConvexInternalShapeData);
151 }
152 
154 SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
155 {
156  btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*)dataBuffer;
157  btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
158 
159  m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
160  m_localScaling.serializeFloat(shapeData->m_localScaling);
162 
163  // Fill padding with zeros to appease msan.
164  shapeData->m_padding = 0;
165 
166  return "btConvexInternalShapeData";
167 }
168 
171 {
172  btVector3 m_localAabbMin;
173  btVector3 m_localAabbMax;
174  bool m_isLocalAabbValid;
175 
176 protected:
178 
179  void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
180  {
181  m_isLocalAabbValid = true;
182  m_localAabbMin = aabbMin;
183  m_localAabbMax = aabbMax;
184  }
185 
186  inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
187  {
188  btAssert(m_isLocalAabbValid);
189  aabbMin = m_localAabbMin;
190  aabbMax = m_localAabbMax;
191  }
192 
193  inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
194  {
195  //lazy evaluation of local aabb
196  btAssert(m_isLocalAabbValid);
197  btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
198  }
199 
200 public:
201  virtual void setLocalScaling(const btVector3& scaling);
202 
203  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
204 
205  void recalcLocalAabb();
206 };
207 
208 #endif //BT_CONVEX_INTERNAL_SHAPE_H
typedef float(TangentPoint)[2]
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble y2 _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat y2 _GL_VOID_RET _GL_VOID GLint GLint GLint y2 _GL_VOID_RET _GL_VOID GLshort GLshort GLshort y2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLuint *buffer _GL_VOID_RET _GL_VOID GLdouble t _GL_VOID_RET _GL_VOID GLfloat t _GL_VOID_RET _GL_VOID GLint t _GL_VOID_RET _GL_VOID GLshort t _GL_VOID_RET _GL_VOID GLdouble t
SIMD_FORCE_INLINE void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btVector3 m_localAabbMin
btVector3 m_localAabbMax
btVector3 m_localScaling
virtual void setLocalScaling(const btVector3 &scaling)
in case we receive negative scaling
Definition: btBox2dShape.h:120
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual btScalar getMargin() const
virtual int calculateSerializeBufferSize() const
virtual void setMargin(btScalar margin)
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btBox2dShape.h:51
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
btScalar m_padding
btScalar getMarginNV() const
const btVector3 & getLocalScalingNV() const
virtual ~btConvexInternalShape()
btConvexInternalShape()
btScalar m_collisionMargin
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
const btVector3 & getImplicitShapeDimensions() const
void setImplicitShapeDimensions(const btVector3 &dimensions)
virtual const btVector3 & getLocalScaling() const
btVector3 m_implicitShapeDimensions
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
virtual int getNumPreferredPenetrationDirections() const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
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
#define btAssert(x)
Definition: btScalar.h:295
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
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
btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive boundi...
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void setLocalScaling(const btVector3 &scaling)
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
SyclQueue void void size_t num_bytes void
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btVector3FloatData m_implicitShapeDimensions
btCollisionShapeData m_collisionShapeData