Bullet Collision Detection & Physics Library
btCollisionShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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*/
23extern "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
60void 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
99const 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
110 // Fill padding with zeros to appease msan.
111 memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding));
112
113 return "btCollisionShapeData";
114}
115
117{
119 btChunk* chunk = serializer->allocate(len,1);
120 const char* structType = serialize(chunk->m_oldPtr, serializer);
121 serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
122}
void btBulletCollisionProbe()
btScalar length(const btQuaternion &q)
Return the length of a quaternion.
Definition: btQuaternion.h:886
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define BT_SHAPE_CODE
Definition: btSerializer.h:125
void * m_oldPtr
Definition: btSerializer.h:56
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 getAngularMotionDisc() const
getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of...
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.
virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const
virtual int calculateSerializeBufferSize() const
virtual void serializeSingleShape(btSerializer *serializer) const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
virtual btChunk * allocate(size_t size, int numElements)=0
virtual void * getUniquePointer(void *oldPtr)=0
virtual void serializeName(const char *ptr)=0
virtual const char * findNameForPointer(const void *ptr) const =0
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:577
const btScalar & z() const
Return the z value.
Definition: btVector3.h:591
btScalar length() const
Return the length of the vector.
Definition: btVector3.h:263
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:575
const btScalar & x() const
Return the x value.
Definition: btVector3.h:587
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:573
const btScalar & y() const
Return the y value.
Definition: btVector3.h:589
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64