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

Bullet Collision Detection & Physics Library

btCompoundShape.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_COMPOUND_SHAPE_H
17#define BT_COMPOUND_SHAPE_H
18
19#include "btCollisionShape.h"
20
21#include "LinearMath/btVector3.h"
22#include "LinearMath/btTransform.h"
23#include "LinearMath/btMatrix3x3.h"
24#include "btCollisionMargin.h"
25#include "LinearMath/btAlignedObjectArray.h"
26
27//class btOptimizedBvh;
28struct btDbvt;
29
30 ATTRIBUTE_ALIGNED16(struct)
31 btCompoundShapeChild
32{
33 BT_DECLARE_ALIGNED_ALLOCATOR();
34
35 btTransform m_transform;
36 btCollisionShape* m_childShape;
37 int m_childShapeType;
38 btScalar m_childMargin;
39 struct btDbvtNode* m_node;
40};
41
42 SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
43{
44 return (c1.m_transform == c2.m_transform &&
45 c1.m_childShape == c2.m_childShape &&
46 c1.m_childShapeType == c2.m_childShapeType &&
47 c1.m_childMargin == c2.m_childMargin);
48}
49
55 ATTRIBUTE_ALIGNED16(class)
56 btCompoundShape : public btCollisionShape
57{
58protected:
59 btAlignedObjectArray<btCompoundShapeChild> m_children;
60 btVector3 m_localAabbMin;
61 btVector3 m_localAabbMax;
62
63 btDbvt* m_dynamicAabbTree;
64
66 int m_updateRevision;
67
68 btScalar m_collisionMargin;
69
70 btVector3 m_localScaling;
71
72public:
73 BT_DECLARE_ALIGNED_ALLOCATOR();
74
75 explicit btCompoundShape(bool enableDynamicAabbTree = true, const int initialChildCapacity = 0);
76
77 virtual ~btCompoundShape();
78
79 void addChildShape(const btTransform& localTransform, btCollisionShape* shape);
80
82 virtual void removeChildShape(btCollisionShape * shape);
83
84 void removeChildShapeByIndex(int childShapeindex);
85
86 int getNumChildShapes() const
87 {
88 return int(m_children.size());
89 }
90
91 btCollisionShape* getChildShape(int index)
92 {
93 return m_children[index].m_childShape;
94 }
95 const btCollisionShape* getChildShape(int index) const
96 {
97 return m_children[index].m_childShape;
98 }
99
100 btTransform& getChildTransform(int index)
101 {
102 return m_children[index].m_transform;
103 }
104 const btTransform& getChildTransform(int index) const
105 {
106 return m_children[index].m_transform;
107 }
108
110 void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
111
112 btCompoundShapeChild* getChildList()
113 {
114 return &m_children[0];
115 }
116
118 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
119
122 virtual void recalculateLocalAabb();
123
124 virtual void setLocalScaling(const btVector3& scaling);
125
126 virtual const btVector3& getLocalScaling() const
127 {
128 return m_localScaling;
129 }
130
131 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
132
133 virtual void setMargin(btScalar margin)
134 {
135 m_collisionMargin = margin;
136 }
137 virtual btScalar getMargin() const
138 {
139 return m_collisionMargin;
140 }
141 virtual const char* getName() const
142 {
143 return "Compound";
144 }
145
146 const btDbvt* getDynamicAabbTree() const
147 {
148 return m_dynamicAabbTree;
149 }
150
151 btDbvt* getDynamicAabbTree()
152 {
153 return m_dynamicAabbTree;
154 }
155
156 void createAabbTreeFromChildren();
157
163 void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const;
164
165 int getUpdateRevision() const
166 {
167 return m_updateRevision;
168 }
169
170 virtual int calculateSerializeBufferSize() const;
171
173 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
174};
175
176// clang-format off
177
179 struct btCompoundShapeChildData
180{
181 btTransformFloatData m_transform;
182 btCollisionShapeData *m_childShape;
183 int m_childShapeType;
184 float m_childMargin;
185};
186
188 struct btCompoundShapeData
189{
190 btCollisionShapeData m_collisionShapeData;
191
192 btCompoundShapeChildData *m_childShapePtr;
193
194 int m_numChildShapes;
195
196 float m_collisionMargin;
197
198};
199
200// clang-format on
201
202 SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const
203{
204 return sizeof(btCompoundShapeData);
205}
206
207#endif //BT_COMPOUND_SHAPE_H
btAlignedObjectArray.h
btCollisionMargin.h
btCollisionShape.h
operator==
bool operator==(const btCompoundShapeChild &c1, const btCompoundShapeChild &c2)
Definition: btCompoundShape.h:42
btMatrix3x3.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
btTransform.h
btVector3.h
btAlignedObjectArray< btCompoundShapeChild >
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:57
btCompoundShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btCompoundShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btCompoundShape.h:61
btCompoundShape::getChildShape
btCollisionShape * getChildShape(int index)
Definition: btCompoundShape.h:91
btCompoundShape::getChildTransform
const btTransform & getChildTransform(int index) const
Definition: btCompoundShape.h:104
btCompoundShape::m_children
btAlignedObjectArray< btCompoundShapeChild > m_children
Definition: btCompoundShape.h:59
btCompoundShape::m_localScaling
btVector3 m_localScaling
Definition: btCompoundShape.h:70
btCompoundShape::getChildTransform
btTransform & getChildTransform(int index)
Definition: btCompoundShape.h:100
btCompoundShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btCompoundShape.h:68
btCompoundShape::m_updateRevision
int m_updateRevision
increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be up...
Definition: btCompoundShape.h:66
btCompoundShape::m_dynamicAabbTree
btDbvt * m_dynamicAabbTree
Definition: btCompoundShape.h:63
btCompoundShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btCompoundShape.h:126
btCompoundShape::getName
virtual const char * getName() const
Definition: btCompoundShape.h:141
btCompoundShape::getChildShape
const btCollisionShape * getChildShape(int index) const
Definition: btCompoundShape.h:95
btCompoundShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCompoundShape.h:202
btCompoundShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btCompoundShape.h:60
btCompoundShape::getMargin
virtual btScalar getMargin() const
Definition: btCompoundShape.h:137
btCompoundShape::getUpdateRevision
int getUpdateRevision() const
Definition: btCompoundShape.h:165
btCompoundShape::getDynamicAabbTree
const btDbvt * getDynamicAabbTree() const
Definition: btCompoundShape.h:146
btCompoundShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btCompoundShape.h:133
btCompoundShape::getNumChildShapes
int getNumChildShapes() const
Definition: btCompoundShape.h:86
btCompoundShape::getChildList
btCompoundShapeChild * getChildList()
Definition: btCompoundShape.h:112
btCompoundShape::getDynamicAabbTree
btDbvt * getDynamicAabbTree()
Definition: btCompoundShape.h:151
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
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:163
btCompoundShapeChildData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCompoundShape.h:180
btCompoundShapeChildData::m_childMargin
float m_childMargin
Definition: btCompoundShape.h:184
btCompoundShapeChildData::m_childShapeType
int m_childShapeType
Definition: btCompoundShape.h:183
btCompoundShapeChildData::m_transform
btTransformFloatData m_transform
Definition: btCompoundShape.h:181
btCompoundShapeChildData::m_childShape
btCollisionShapeData * m_childShape
Definition: btCompoundShape.h:182
btCompoundShapeChild
Definition: btCompoundShape.h:32
btCompoundShapeChild::m_transform
btTransform m_transform
Definition: btCompoundShape.h:35
btCompoundShapeChild::m_childMargin
btScalar m_childMargin
Definition: btCompoundShape.h:38
btCompoundShapeChild::m_node
struct btDbvtNode * m_node
Definition: btCompoundShape.h:39
btCompoundShapeChild::m_childShapeType
int m_childShapeType
Definition: btCompoundShape.h:37
btCompoundShapeChild::m_childShape
btCollisionShape * m_childShape
Definition: btCompoundShape.h:36
btCompoundShapeChild::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btCompoundShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCompoundShape.h:189
btCompoundShapeData::m_childShapePtr
btCompoundShapeChildData * m_childShapePtr
Definition: btCompoundShape.h:192
btCompoundShapeData::m_numChildShapes
int m_numChildShapes
Definition: btCompoundShape.h:194
btCompoundShapeData::m_collisionShapeData
btCollisionShapeData m_collisionShapeData
Definition: btCompoundShape.h:190
btCompoundShapeData::m_collisionMargin
float m_collisionMargin
Definition: btCompoundShape.h:196
btDbvtNode
Definition: btDbvt.h:181
btDbvt
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
Definition: btDbvt.h:229
btTransformFloatData
for serialization
Definition: btTransform.h:246