diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h | 26 |
1 files changed, 17 insertions, 9 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h index 3624749f768..434860c8633 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h @@ -46,23 +46,26 @@ SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompou c1.m_childMargin == c2.m_childMargin ); } -/// btCompoundShape allows to store multiple other btCollisionShapes +/// The btCompoundShape allows to store multiple other btCollisionShapes /// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape. +/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. +/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25 +/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape) ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape { - //btAlignedObjectArray<btTransform> m_childTransforms; - //btAlignedObjectArray<btCollisionShape*> m_childShapes; btAlignedObjectArray<btCompoundShapeChild> m_children; btVector3 m_localAabbMin; btVector3 m_localAabbMax; - //btOptimizedBvh* m_aabbTree; btDbvt* m_dynamicAabbTree; + ///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated + int m_updateRevision; + public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btCompoundShape(); + btCompoundShape(bool enableDynamicAabbTree = true); virtual ~btCompoundShape(); @@ -88,15 +91,18 @@ public: return m_children[index].m_childShape; } - btTransform getChildTransform(int index) + btTransform& getChildTransform(int index) { return m_children[index].m_transform; } - const btTransform getChildTransform(int index) const + const btTransform& getChildTransform(int index) const { return m_children[index].m_transform; } + ///set a new transform for a child, and update internal data structures (local aabb and dynamic tree) + void updateChildTransform(int childIndex, const btTransform& newChildTransform); + btCompoundShapeChild* getChildList() { @@ -121,8 +127,6 @@ public: virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;} - virtual void setMargin(btScalar margin) { m_collisionMargin = margin; @@ -151,6 +155,10 @@ public: ///of the collision object by the principal transform. void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const; + int getUpdateRevision() const + { + return m_updateRevision; + } private: btScalar m_collisionMargin; |