2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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:
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.
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16 #ifndef BT_COLLISION_SHAPE_H
17 #define BT_COLLISION_SHAPE_H
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btMatrix3x3.h"
22 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
25 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
26 ATTRIBUTE_ALIGNED16(class)
36 BT_DECLARE_ALIGNED_ALLOCATOR();
38 btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1), m_userIndex2(-1)
42 virtual ~btCollisionShape()
46 ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
47 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
49 virtual void getBoundingSphere(btVector3 & center, btScalar & radius) const;
51 ///getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.
52 virtual btScalar getAngularMotionDisc() const;
54 virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
56 ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
57 ///result is conservative
58 void calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const;
60 SIMD_FORCE_INLINE bool isPolyhedral() const
62 return btBroadphaseProxy::isPolyhedral(getShapeType());
65 SIMD_FORCE_INLINE bool isConvex2d() const
67 return btBroadphaseProxy::isConvex2d(getShapeType());
70 SIMD_FORCE_INLINE bool isConvex() const
72 return btBroadphaseProxy::isConvex(getShapeType());
74 SIMD_FORCE_INLINE bool isNonMoving() const
76 return btBroadphaseProxy::isNonMoving(getShapeType());
78 SIMD_FORCE_INLINE bool isConcave() const
80 return btBroadphaseProxy::isConcave(getShapeType());
82 SIMD_FORCE_INLINE bool isCompound() const
84 return btBroadphaseProxy::isCompound(getShapeType());
87 SIMD_FORCE_INLINE bool isSoftBody() const
89 return btBroadphaseProxy::isSoftBody(getShapeType());
92 ///isInfinite is used to catch simulation error (aabb check)
93 SIMD_FORCE_INLINE bool isInfinite() const
95 return btBroadphaseProxy::isInfinite(getShapeType());
99 virtual void setLocalScaling(const btVector3& scaling) = 0;
100 virtual const btVector3& getLocalScaling() const = 0;
101 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const = 0;
104 virtual const char* getName() const = 0;
107 int getShapeType() const
112 ///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
113 ///See Bullet/Demos/RollingFrictionDemo for an example
114 virtual btVector3 getAnisotropicRollingFrictionDirection() const
116 return btVector3(1, 1, 1);
118 virtual void setMargin(btScalar margin) = 0;
119 virtual btScalar getMargin() const = 0;
121 ///optional user data pointer
122 void setUserPointer(void* userPtr)
124 m_userPointer = userPtr;
127 void* getUserPointer() const
129 return m_userPointer;
131 void setUserIndex(int index)
136 int getUserIndex() const
141 void setUserIndex2(int index)
143 m_userIndex2 = index;
146 int getUserIndex2() const
151 virtual int calculateSerializeBufferSize() const;
153 ///fills the dataBuffer and returns the struct name (and 0 on failure)
154 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
156 virtual void serializeSingleShape(btSerializer * serializer) const;
160 // parser needs * with the name
161 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
162 struct btCollisionShapeData
169 SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
171 return sizeof(btCollisionShapeData);
174 #endif //BT_COLLISION_SHAPE_H