Page MenuHome
Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h

Changeset View

Standalone View

View Options

extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h

Show All 13 Lines
*/ */
#ifndef BT_CONVEX_INTERNAL_SHAPE_H #ifndef BT_CONVEX_INTERNAL_SHAPE_H
#define BT_CONVEX_INTERNAL_SHAPE_H #define BT_CONVEX_INTERNAL_SHAPE_H
#include "btConvexShape.h" #include "btConvexShape.h"
#include "LinearMath/btAabbUtil2.h" #include "LinearMath/btAabbUtil2.h"
///The btConvexInternalShape is an internal base class, shared by most convex shape implementations. ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN. ///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN.
///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h ///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h
///Note that when creating small shapes (derived from btConvexInternalShape), ///Note that when creating small shapes (derived from btConvexInternalShape),
///you need to make sure to set a smaller collision margin, using the 'setMargin' API ///you need to make sure to set a smaller collision margin, using the 'setMargin' API
///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape ///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape ATTRIBUTE_ALIGNED16(class)
btConvexInternalShape : public btConvexShape
{ {
protected: protected:
//local scaling. collisionMargin is not scaled ! //local scaling. collisionMargin is not scaled !
btVector3 m_localScaling; btVector3 m_localScaling;
btVector3 m_implicitShapeDimensions; btVector3 m_implicitShapeDimensions;
btScalar m_collisionMargin; btScalar m_collisionMargin;
btScalar m_padding; btScalar m_padding;
btConvexInternalShape(); btConvexInternalShape();
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
virtual ~btConvexInternalShape() virtual ~btConvexInternalShape()
{ {
} }
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
const btVector3& getImplicitShapeDimensions() const const btVector3& getImplicitShapeDimensions() const
{ {
return m_implicitShapeDimensions; return m_implicitShapeDimensions;
} }
///warning: use setImplicitShapeDimensions with care ///warning: use setImplicitShapeDimensions with care
///changing a collision shape while the body is in the world is not recommended, ///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 ///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' ///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'
void setImplicitShapeDimensions(const btVector3& dimensions) void setImplicitShapeDimensions(const btVector3& dimensions)
{ {
m_implicitShapeDimensions = dimensions; m_implicitShapeDimensions = dimensions;
} }
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f) void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
{ {
btScalar safeMargin = defaultMarginMultiplier*minDimension; btScalar safeMargin = defaultMarginMultiplier * minDimension;
if (safeMargin < getMargin()) if (safeMargin < getMargin())
{ {
setMargin(safeMargin); setMargin(safeMargin);
} }
} }
void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f) void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
{ {
//see http://code.google.com/p/bullet/issues/detail?id=349 //see http://code.google.com/p/bullet/issues/detail?id=349
//this margin check could could be added to other collision shapes too, //this margin check could could be added to other collision shapes too,
//or add some assert/warning somewhere //or add some assert/warning somewhere
btScalar minDimension=halfExtents[halfExtents.minAxis()]; btScalar minDimension = halfExtents[halfExtents.minAxis()];
setSafeMargin(minDimension, defaultMarginMultiplier); setSafeMargin(minDimension, defaultMarginMultiplier);
} }
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version ///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 void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{ {
getAabbSlow(t,aabbMin,aabbMax); getAabbSlow(t, aabbMin, aabbMax);
} }
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling); virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const virtual const btVector3& getLocalScaling() const
{ {
return m_localScaling; return m_localScaling;
} }
const btVector3& getLocalScalingNV() const const btVector3& getLocalScalingNV() const
{ {
return m_localScaling; return m_localScaling;
} }
virtual void setMargin(btScalar margin) virtual void setMargin(btScalar margin)
{ {
m_collisionMargin = margin; m_collisionMargin = margin;
} }
virtual btScalar getMargin() const virtual btScalar getMargin() const
{ {
return m_collisionMargin; return m_collisionMargin;
} }
btScalar getMarginNV() const btScalar getMarginNV() const
{ {
return m_collisionMargin; return m_collisionMargin;
} }
virtual int getNumPreferredPenetrationDirections() const virtual int getNumPreferredPenetrationDirections() const
{ {
return 0; return 0;
} }
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{ {
(void)penetrationVector; (void)penetrationVector;
(void)index; (void)index;
btAssert(0); btAssert(0);
} }
virtual int calculateSerializeBufferSize() const; virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure) ///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
}; };
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btConvexInternalShapeData struct btConvexInternalShapeData
{ {
btCollisionShapeData m_collisionShapeData; btCollisionShapeData m_collisionShapeData;
btVector3FloatData m_localScaling; btVector3FloatData m_localScaling;
btVector3FloatData m_implicitShapeDimensions; btVector3FloatData m_implicitShapeDimensions;
float m_collisionMargin; float m_collisionMargin;
int m_padding; int m_padding;
}; };
SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
{ {
return sizeof(btConvexInternalShapeData); return sizeof(btConvexInternalShapeData);
} }
///fills the dataBuffer and returns the struct name (and 0 on failure) ///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
{ {
btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer; btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*)dataBuffer;
btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer); btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions); m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
m_localScaling.serializeFloat(shapeData->m_localScaling); m_localScaling.serializeFloat(shapeData->m_localScaling);
shapeData->m_collisionMargin = float(m_collisionMargin); shapeData->m_collisionMargin = float(m_collisionMargin);
// Fill padding with zeros to appease msan.
shapeData->m_padding = 0;
return "btConvexInternalShapeData"; return "btConvexInternalShapeData";
} }
///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations ///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations
class btConvexInternalAabbCachingShape : public btConvexInternalShape class btConvexInternalAabbCachingShape : public btConvexInternalShape
{ {
btVector3 m_localAabbMin; btVector3 m_localAabbMin;
btVector3 m_localAabbMax; btVector3 m_localAabbMax;
bool m_isLocalAabbValid; bool m_isLocalAabbValid;
protected: protected:
btConvexInternalAabbCachingShape(); btConvexInternalAabbCachingShape();
void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
{ {
m_isLocalAabbValid = true; m_isLocalAabbValid = true;
m_localAabbMin = aabbMin; m_localAabbMin = aabbMin;
m_localAabbMax = aabbMax; m_localAabbMax = aabbMax;
} }
inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
{ {
btAssert(m_isLocalAabbValid); btAssert(m_isLocalAabbValid);
aabbMin = m_localAabbMin; aabbMin = m_localAabbMin;
aabbMax = m_localAabbMax; aabbMax = m_localAabbMax;
} }
inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
{ {
//lazy evaluation of local aabb //lazy evaluation of local aabb
btAssert(m_isLocalAabbValid); btAssert(m_isLocalAabbValid);
btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
} }
public: public:
virtual void setLocalScaling(const btVector3& scaling); virtual void setLocalScaling(const btVector3& scaling);
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
void recalcLocalAabb(); void recalcLocalAabb();
}; };
#endif //BT_CONVEX_INTERNAL_SHAPE_H #endif //BT_CONVEX_INTERNAL_SHAPE_H