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author | Erwin Coumans <blender@erwincoumans.com> | 2011-03-12 23:34:17 +0300 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2011-03-12 23:34:17 +0300 |
commit | 5e374328a87c1b418f8454d5ef38470484804961 (patch) | |
tree | 1d6de85165175c5192f74dbd423e1d5cb48f8ff6 /extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h | |
parent | 8c526e79e31d40d56a6fecce9343c74bd9fe62d8 (diff) |
update Bullet physics sdk to latest trunk/version 2.78
add PhysicsConstraints.exportBulletFile(char* fileName) python command
I'll be checking the bf-committers mailing list, in case this commit broke stuff
scons needs to be updated, I'll do that in a second.
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h | 109 |
1 files changed, 109 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h index bab720d7b6d..12527731804 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h @@ -1,8 +1,24 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ #ifndef BT_CONVEX_INTERNAL_SHAPE_H #define BT_CONVEX_INTERNAL_SHAPE_H #include "btConvexShape.h" +#include "LinearMath/btAabbUtil2.h" + ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations. class btConvexInternalShape : public btConvexShape @@ -37,6 +53,15 @@ public: return m_implicitShapeDimensions; } + ///warning: use setImplicitShapeDimensions with care + ///changing a collision shape while the body is in the world is not recommended, + ///it is best to remove the body from the world, then make the change, and re-add it + ///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs' + void setImplicitShapeDimensions(const btVector3& dimensions) + { + m_implicitShapeDimensions = dimensions; + } + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const { @@ -85,9 +110,93 @@ public: btAssert(0); } + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btConvexInternalShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btVector3FloatData m_localScaling; + btVector3FloatData m_implicitShapeDimensions; + float m_collisionMargin; + + int m_padding; + }; + +SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const +{ + return sizeof(btConvexInternalShapeData); +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer; + btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer); + + m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions); + m_localScaling.serializeFloat(shapeData->m_localScaling); + shapeData->m_collisionMargin = float(m_collisionMargin); + + return "btConvexInternalShapeData"; +} + + + + +///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations +class btConvexInternalAabbCachingShape : public btConvexInternalShape +{ + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + bool m_isLocalAabbValid; + +protected: + + btConvexInternalAabbCachingShape(); + + void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) + { + m_isLocalAabbValid = true; + m_localAabbMin = aabbMin; + m_localAabbMax = aabbMax; + } + + inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const + { + btAssert(m_isLocalAabbValid); + aabbMin = m_localAabbMin; + aabbMax = m_localAabbMax; + } + + inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const + { + + //lazy evaluation of local aabb + btAssert(m_isLocalAabbValid); + btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); + } + +public: + + virtual void setLocalScaling(const btVector3& scaling); + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + void recalcLocalAabb(); + +}; + #endif //BT_CONVEX_INTERNAL_SHAPE_H |