Bullet Collision Detection & Physics Library
btCollisionShape.cpp
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 */
17 
18 /*
19  Make sure this dummy function never changes so that it
20  can be used by probes that are checking whether the
21  library is actually installed.
22 */
23 extern "C"
24 {
26 
28 }
29 
30 
31 
33 {
34  btTransform tr;
35  tr.setIdentity();
36  btVector3 aabbMin,aabbMax;
37 
38  getAabb(tr,aabbMin,aabbMax);
39 
40  radius = (aabbMax-aabbMin).length()*btScalar(0.5);
41  center = (aabbMin+aabbMax)*btScalar(0.5);
42 }
43 
44 
46 {
47  return getAngularMotionDisc() * defaultContactThreshold;
48 }
49 
51 {
53  btVector3 center;
54  btScalar disc;
55  getBoundingSphere(center,disc);
56  disc += (center).length();
57  return disc;
58 }
59 
60 void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const
61 {
62  //start with static aabb
63  getAabb(curTrans,temporalAabbMin,temporalAabbMax);
64 
65  btScalar temporalAabbMaxx = temporalAabbMax.getX();
66  btScalar temporalAabbMaxy = temporalAabbMax.getY();
67  btScalar temporalAabbMaxz = temporalAabbMax.getZ();
68  btScalar temporalAabbMinx = temporalAabbMin.getX();
69  btScalar temporalAabbMiny = temporalAabbMin.getY();
70  btScalar temporalAabbMinz = temporalAabbMin.getZ();
71 
72  // add linear motion
73  btVector3 linMotion = linvel*timeStep;
75  if (linMotion.x() > btScalar(0.))
76  temporalAabbMaxx += linMotion.x();
77  else
78  temporalAabbMinx += linMotion.x();
79  if (linMotion.y() > btScalar(0.))
80  temporalAabbMaxy += linMotion.y();
81  else
82  temporalAabbMiny += linMotion.y();
83  if (linMotion.z() > btScalar(0.))
84  temporalAabbMaxz += linMotion.z();
85  else
86  temporalAabbMinz += linMotion.z();
87 
88  //add conservative angular motion
89  btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
90  btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
91  temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
92  temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
93 
94  temporalAabbMin -= angularMotion3d;
95  temporalAabbMax += angularMotion3d;
96 }
97 
99 const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
100 {
101  btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer;
102  char* name = (char*) serializer->findNameForPointer(this);
103  shapeData->m_name = (char*)serializer->getUniquePointer(name);
104  if (shapeData->m_name)
105  {
106  serializer->serializeName(name);
107  }
108  shapeData->m_shapeType = m_shapeType;
109  //shapeData->m_padding//??
110  return "btCollisionShapeData";
111 }
112 
114 {
115  int len = calculateSerializeBufferSize();
116  btChunk* chunk = serializer->allocate(len,1);
117  const char* structType = serialize(chunk->m_oldPtr, serializer);
118  serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
119 }
btScalar length(const btQuaternion &q)
Return the length of a quaternion.
Definition: btQuaternion.h:853
void btBulletCollisionProbe()
virtual int calculateSerializeBufferSize() const
virtual void * getUniquePointer(void *oldPtr)=0
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
virtual void serializeSingleShape(btSerializer *serializer) const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t...
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
virtual void getBoundingSphere(btVector3 &center, btScalar &radius) const
void calculateTemporalAabb(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0...
virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561
btScalar length() const
Return the length of the vector.
Definition: btVector3.h:263
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
virtual btScalar getAngularMotionDisc() const
getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
virtual void serializeName(const char *ptr)=0
virtual const char * findNameForPointer(const void *ptr) const =0
#define BT_SHAPE_CODE
Definition: btSerializer.h:125
void * m_oldPtr
Definition: btSerializer.h:56
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
virtual btChunk * allocate(size_t size, int numElements)=0
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579