Bullet Collision Detection & Physics Library
btCollisionShape.h
Go to the documentation of this file.
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*/
15
16#ifndef BT_COLLISION_SHAPE_H
17#define BT_COLLISION_SHAPE_H
18
23class btSerializer;
24
25
28{
29protected:
33
34public:
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
@ INVALID_SHAPE_PROXYTYPE
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
virtual void setMargin(btScalar margin)=0
bool isConvex2d() const
void setUserPointer(void *userPtr)
optional user data pointer
bool isCompound() const
int getShapeType() const
bool isConvex() const
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const =0
bool isSoftBody() const
virtual const char * getName() const =0
int getUserIndex() const
virtual const btVector3 & getLocalScaling() const =0
bool isNonMoving() const
virtual btScalar getMargin() const =0
void setUserIndex(int index)
virtual void setLocalScaling(const btVector3 &scaling)=0
void * getUserPointer() 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.
bool isInfinite() const
isInfinite is used to catch simulation error (aabb check)
virtual int calculateSerializeBufferSize() const
bool isConcave() const
bool isPolyhedral() const
virtual ~btCollisionShape()
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
static bool isInfinite(int proxyType)
static bool isCompound(int proxyType)
static bool isSoftBody(int proxyType)
static bool isConvex2d(int proxyType)
static bool isPolyhedral(int proxyType)
static bool isNonMoving(int proxyType)
static bool isConcave(int proxyType)
static bool isConvex(int proxyType)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64