Bullet Collision Detection & Physics Library
btCollisionShape.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_COLLISION_SHAPE_H
17 #define BT_COLLISION_SHAPE_H
18 
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
23 class btSerializer;
24 
25 
28 {
29 protected:
33 
34 public:
35 
37 
38  btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
39  {
40  }
41 
43  {
44  }
45 
47  virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
48 
49  virtual void getBoundingSphere(btVector3& center,btScalar& radius) const;
50 
52  virtual btScalar getAngularMotionDisc() const;
53 
54  virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
55 
56 
59  void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
60 
61 
62 
64  {
65  return btBroadphaseProxy::isPolyhedral(getShapeType());
66  }
67 
69  {
70  return btBroadphaseProxy::isConvex2d(getShapeType());
71  }
72 
74  {
75  return btBroadphaseProxy::isConvex(getShapeType());
76  }
78  {
79  return btBroadphaseProxy::isNonMoving(getShapeType());
80  }
82  {
83  return btBroadphaseProxy::isConcave(getShapeType());
84  }
86  {
87  return btBroadphaseProxy::isCompound(getShapeType());
88  }
89 
91  {
92  return btBroadphaseProxy::isSoftBody(getShapeType());
93  }
94 
97  {
98  return btBroadphaseProxy::isInfinite(getShapeType());
99  }
100 
101 #ifndef __SPU__
102  virtual void setLocalScaling(const btVector3& scaling) =0;
103  virtual const btVector3& getLocalScaling() const =0;
104  virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
105 
106 
107 //debugging support
108  virtual const char* getName()const =0 ;
109 #endif //__SPU__
110 
111 
112  int getShapeType() const { return m_shapeType; }
113 
117  {
118  return btVector3(1,1,1);
119  }
120  virtual void setMargin(btScalar margin) = 0;
121  virtual btScalar getMargin() const = 0;
122 
123 
125  void setUserPointer(void* userPtr)
126  {
127  m_userPointer = userPtr;
128  }
129 
130  void* getUserPointer() const
131  {
132  return m_userPointer;
133  }
134  void setUserIndex(int index)
135  {
136  m_userIndex = index;
137  }
138 
139  int getUserIndex() const
140  {
141  return m_userIndex;
142  }
143 
144 
145  virtual int calculateSerializeBufferSize() const;
146 
148  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
149 
150  virtual void serializeSingleShape(btSerializer* serializer) const;
151 
152 };
153 
156 {
157  char *m_name;
159  char m_padding[4];
160 };
161 
163 {
164  return sizeof(btCollisionShapeData);
165 }
166 
167 
168 
169 #endif //BT_COLLISION_SHAPE_H
170 
int getShapeType() const
static bool isInfinite(int proxyType)
virtual int calculateSerializeBufferSize() const
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
static bool isCompound(int proxyType)
static bool isNonMoving(int proxyType)
void setUserPointer(void *userPtr)
optional user data pointer
bool isConcave() const
bool isNonMoving() const
bool isSoftBody() const
void * getUserPointer() const
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
static bool isPolyhedral(int proxyType)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
static bool isSoftBody(int proxyType)
int getUserIndex() const
bool isConvex() const
bool isCompound() const
bool isInfinite() const
isInfinite is used to catch simulation error (aabb check)
bool isPolyhedral() const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
static bool isConvex2d(int proxyType)
bool isConvex2d() const
static bool isConcave(int proxyType)
virtual ~btCollisionShape()
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
void setUserIndex(int index)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
static bool isConvex(int proxyType)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278