Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.h

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extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.h

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including commercial applications, and to alter it and redistribute it freely,		including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:		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.		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.		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.		3. This notice may not be removed or altered from any source distribution.
*/		*/


#ifndef GIMPACT_SHAPE_H		#ifndef GIMPACT_SHAPE_H
#define GIMPACT_SHAPE_H		#define GIMPACT_SHAPE_H

#include "BulletCollision/CollisionShapes/btCollisionShape.h"		#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"		#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"		#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"		#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"		#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "BulletCollision/CollisionShapes/btConcaveShape.h"		#include "BulletCollision/CollisionShapes/btConcaveShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"		#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "LinearMath/btVector3.h"		#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"		#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"		#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAlignedObjectArray.h"		#include "LinearMath/btAlignedObjectArray.h"

#include "btGImpactQuantizedBvh.h" // box tree class		#include "btGImpactQuantizedBvh.h" // box tree class


//! declare Quantized trees, (you can change to float based trees)		//! declare Quantized trees, (you can change to float based trees)
typedef btGImpactQuantizedBvh btGImpactBoxSet;		typedef btGImpactQuantizedBvh btGImpactBoxSet;

enum eGIMPACT_SHAPE_TYPE		enum eGIMPACT_SHAPE_TYPE
{		{
CONST_GIMPACT_COMPOUND_SHAPE = 0,		CONST_GIMPACT_COMPOUND_SHAPE = 0,
CONST_GIMPACT_TRIMESH_SHAPE_PART,		CONST_GIMPACT_TRIMESH_SHAPE_PART,
CONST_GIMPACT_TRIMESH_SHAPE		CONST_GIMPACT_TRIMESH_SHAPE
};		};



//! Helper class for tetrahedrons		//! Helper class for tetrahedrons
class btTetrahedronShapeEx:public btBU_Simplex1to4		class btTetrahedronShapeEx : public btBU_Simplex1to4
{		{
public:		public:
btTetrahedronShapeEx()		btTetrahedronShapeEx()
{		{
m_numVertices = 4;		m_numVertices = 4;
}		}


SIMD_FORCE_INLINE void setVertices(		SIMD_FORCE_INLINE void setVertices(
const btVector3 & v0,const btVector3 & v1,		const btVector3& v0, const btVector3& v1,
const btVector3 & v2,const btVector3 & v3)		const btVector3& v2, const btVector3& v3)
{		{
m_vertices[0] = v0;		m_vertices[0] = v0;
m_vertices[1] = v1;		m_vertices[1] = v1;
m_vertices[2] = v2;		m_vertices[2] = v2;
m_vertices[3] = v3;		m_vertices[3] = v3;
recalcLocalAabb();		recalcLocalAabb();
}		}
};		};


//! Base class for gimpact shapes		//! Base class for gimpact shapes
class btGImpactShapeInterface : public btConcaveShape		class btGImpactShapeInterface : public btConcaveShape
{		{
protected:		protected:
btAABB m_localAABB;		btAABB m_localAABB;
bool m_needs_update;		bool m_needs_update;
btVector3 localScaling;		btVector3 localScaling;
btGImpactBoxSet m_box_set;// optionally boxset		btGImpactBoxSet m_box_set; // optionally boxset

//! use this function for perfofm refit in bounding boxes		//! use this function for perfofm refit in bounding boxes
//! use this function for perfofm refit in bounding boxes		//! use this function for perfofm refit in bounding boxes
virtual void calcLocalAABB()		virtual void calcLocalAABB()
{		{
lockChildShapes();		lockChildShapes();
if(m_box_set.getNodeCount() == 0)		if (m_box_set.getNodeCount() == 0)
{		{
m_box_set.buildSet();		m_box_set.buildSet();
}		}
else		else
{		{
m_box_set.update();		m_box_set.update();
}		}
unlockChildShapes();		unlockChildShapes();

m_localAABB = m_box_set.getGlobalBox();		m_localAABB = m_box_set.getGlobalBox();
}		}


public:		public:
btGImpactShapeInterface()		btGImpactShapeInterface()
{		{
m_shapeType=GIMPACT_SHAPE_PROXYTYPE;		m_shapeType = GIMPACT_SHAPE_PROXYTYPE;
m_localAABB.invalidate();		m_localAABB.invalidate();
m_needs_update = true;		m_needs_update = true;
localScaling.setValue(1.f,1.f,1.f);		localScaling.setValue(1.f, 1.f, 1.f);
}		}


//! performs refit operation		//! performs refit operation
/*!		/*!
Updates the entire Box set of this shape.		Updates the entire Box set of this shape.
\pre postUpdate() must be called for attemps to calculating the box set, else this function		\pre postUpdate() must be called for attemps to calculating the box set, else this function
will does nothing.		will does nothing.
\post if m_needs_update == true, then it calls calcLocalAABB();		\post if m_needs_update == true, then it calls calcLocalAABB();
*/		*/
SIMD_FORCE_INLINE void updateBound()		SIMD_FORCE_INLINE void updateBound()
{		{
if(!m_needs_update) return;		if (!m_needs_update) return;
calcLocalAABB();		calcLocalAABB();
m_needs_update = false;		m_needs_update = false;
}		}

//! If the Bounding box is not updated, then this class attemps to calculate it.		//! If the Bounding box is not updated, then this class attemps to calculate it.
/*!		/*!
\post Calls updateBound() for update the box set.		\post Calls updateBound() for update the box set.
*/		*/
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const		void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{		{
btAABB transformedbox = m_localAABB;		btAABB transformedbox = m_localAABB;
transformedbox.appy_transform(t);		transformedbox.appy_transform(t);
aabbMin = transformedbox.m_min;		aabbMin = transformedbox.m_min;
aabbMax = transformedbox.m_max;		aabbMax = transformedbox.m_max;
}		}

//! Tells to this object that is needed to refit the box set		//! Tells to this object that is needed to refit the box set
virtual void postUpdate()		virtual void postUpdate()
{		{
m_needs_update = true;		m_needs_update = true;
}		}

//! Obtains the local box, which is the global calculated box of the total of subshapes		//! Obtains the local box, which is the global calculated box of the total of subshapes
SIMD_FORCE_INLINE const btAABB & getLocalBox()		SIMD_FORCE_INLINE const btAABB& getLocalBox()
{		{
return m_localAABB;		return m_localAABB;
}		}


virtual int getShapeType() const		virtual int getShapeType() const
{		{
return GIMPACT_SHAPE_PROXYTYPE;		return GIMPACT_SHAPE_PROXYTYPE;
}		}

/*!		/*!
\post You must call updateBound() for update the box set.		\post You must call updateBound() for update the box set.
*/		*/
virtual void setLocalScaling(const btVector3& scaling)		virtual void setLocalScaling(const btVector3& scaling)
{		{
localScaling = scaling;		localScaling = scaling;
postUpdate();		postUpdate();
}		}

virtual const btVector3& getLocalScaling() const		virtual const btVector3& getLocalScaling() const
{		{
return localScaling;		return localScaling;
}		}


virtual void setMargin(btScalar margin)		virtual void setMargin(btScalar margin)
{		{
m_collisionMargin = margin;		m_collisionMargin = margin;
int i = getNumChildShapes();		int i = getNumChildShapes();
while(i--)		while (i--)
{		{
btCollisionShape* child = getChildShape(i);		btCollisionShape* child = getChildShape(i);
child->setMargin(margin);		child->setMargin(margin);
}		}

m_needs_update = true;		m_needs_update = true;
}		}


//! Subshape member functions		//! Subshape member functions
//!@{		//!@{

//! Base method for determinig which kind of GIMPACT shape we get		//! Base method for determinig which kind of GIMPACT shape we get
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0 ;		virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0;

//! gets boxset		//! gets boxset
SIMD_FORCE_INLINE const btGImpactBoxSet * getBoxSet() const		SIMD_FORCE_INLINE const btGImpactBoxSet* getBoxSet() const
{		{
return &m_box_set;		return &m_box_set;
}		}

//! Determines if this class has a hierarchy structure for sorting its primitives		//! Determines if this class has a hierarchy structure for sorting its primitives
SIMD_FORCE_INLINE bool hasBoxSet() const		SIMD_FORCE_INLINE bool hasBoxSet() const
{		{
if(m_box_set.getNodeCount() == 0) return false;		if (m_box_set.getNodeCount() == 0) return false;
return true;		return true;
}		}

//! Obtains the primitive manager		//! Obtains the primitive manager
virtual const btPrimitiveManagerBase * getPrimitiveManager() const = 0;		virtual const btPrimitiveManagerBase* getPrimitiveManager() const = 0;


//! Gets the number of children		//! Gets the number of children
virtual int getNumChildShapes() const = 0;		virtual int getNumChildShapes() const = 0;

//! if true, then its children must get transforms.		//! if true, then its children must get transforms.
virtual bool childrenHasTransform() const = 0;		virtual bool childrenHasTransform() const = 0;

//! Determines if this shape has triangles		//! Determines if this shape has triangles
virtual bool needsRetrieveTriangles() const = 0;		virtual bool needsRetrieveTriangles() const = 0;

//! Determines if this shape has tetrahedrons		//! Determines if this shape has tetrahedrons
virtual bool needsRetrieveTetrahedrons() const = 0;		virtual bool needsRetrieveTetrahedrons() const = 0;

virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const = 0;		virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const = 0;

virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const = 0;		virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const = 0;



//! call when reading child shapes		//! call when reading child shapes
virtual void lockChildShapes() const		virtual void lockChildShapes() const
{		{
}		}

virtual void unlockChildShapes() const		virtual void unlockChildShapes() const
{		{
}		}

//! if this trimesh		//! if this trimesh
SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const		SIMD_FORCE_INLINE void getPrimitiveTriangle(int index, btPrimitiveTriangle& triangle) const
{		{
getPrimitiveManager()->get_primitive_triangle(index,triangle);		getPrimitiveManager()->get_primitive_triangle(index, triangle);
}		}


//! Retrieves the bound from a child		//! Retrieves the bound from a child
/*!		/*!
*/		*/
virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const		virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{		{
btAABB child_aabb;		btAABB child_aabb;
getPrimitiveManager()->get_primitive_box(child_index,child_aabb);		getPrimitiveManager()->get_primitive_box(child_index, child_aabb);
child_aabb.appy_transform(t);		child_aabb.appy_transform(t);
aabbMin = child_aabb.m_min;		aabbMin = child_aabb.m_min;
aabbMax = child_aabb.m_max;		aabbMax = child_aabb.m_max;
}		}

//! Gets the children		//! Gets the children
virtual btCollisionShape* getChildShape(int index) = 0;		virtual btCollisionShape* getChildShape(int index) = 0;


//! Gets the child		//! Gets the child
virtual const btCollisionShape* getChildShape(int index) const = 0;		virtual const btCollisionShape* getChildShape(int index) const = 0;

//! Gets the children transform		//! Gets the children transform
virtual btTransform getChildTransform(int index) const = 0;		virtual btTransform getChildTransform(int index) const = 0;

//! Sets the children transform		//! Sets the children transform
/*!		/*!
\post You must call updateBound() for update the box set.		\post You must call updateBound() for update the box set.
*/		*/
virtual void setChildTransform(int index, const btTransform & transform) = 0;		virtual void setChildTransform(int index, const btTransform& transform) = 0;

//!@}		//!@}


//! virtual method for ray collision		//! virtual method for ray collision
virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const		virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
{		{
(void) rayFrom; (void) rayTo; (void) resultCallback;		(void)rayFrom;
		(void)rayTo;
		(void)resultCallback;
}		}

//! Function for retrieve triangles.		//! Function for retrieve triangles.
/*!		/*!
It gives the triangles in local space		It gives the triangles in local space
*/		*/
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const		virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
{		{
(void) callback; (void) aabbMin; (void) aabbMax;		(void)callback;
		(void)aabbMin;
		(void)aabbMax;
}		}

//! Function for retrieve triangles.		//! Function for retrieve triangles.
/*!		/*!
It gives the triangles in local space		It gives the triangles in local space
*/		*/
virtual void processAllTrianglesRay(btTriangleCallback* /callback/,const btVector3& /rayFrom/, const btVector3& /rayTo/) const		virtual void processAllTrianglesRay(btTriangleCallback* /callback/, const btVector3& /rayFrom/, const btVector3& /rayTo/) const
{		{

}		}

//!@}		//!@}

};		};


//! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once		//! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once
/*!		/*!
This class only can manage Convex subshapes		This class only can manage Convex subshapes
*/		*/
class btGImpactCompoundShape : public btGImpactShapeInterface		class btGImpactCompoundShape : public btGImpactShapeInterface
{		{
public:		public:
//! compound primitive manager		//! compound primitive manager
class CompoundPrimitiveManager:public btPrimitiveManagerBase		class CompoundPrimitiveManager : public btPrimitiveManagerBase
{		{
public:		public:
virtual ~CompoundPrimitiveManager() {}		virtual ~CompoundPrimitiveManager() {}
btGImpactCompoundShape * m_compoundShape;		btGImpactCompoundShape* m_compoundShape;


CompoundPrimitiveManager(const CompoundPrimitiveManager& compound)		CompoundPrimitiveManager(const CompoundPrimitiveManager& compound)
: btPrimitiveManagerBase()		: btPrimitiveManagerBase()
{		{
m_compoundShape = compound.m_compoundShape;		m_compoundShape = compound.m_compoundShape;
}		}

CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape)		CompoundPrimitiveManager(btGImpactCompoundShape* compoundShape)
{		{
m_compoundShape = compoundShape;		m_compoundShape = compoundShape;
}		}

CompoundPrimitiveManager()		CompoundPrimitiveManager()
{		{
m_compoundShape = NULL;		m_compoundShape = NULL;
}		}

virtual bool is_trimesh() const		virtual bool is_trimesh() const
{		{
return false;		return false;
}		}

virtual int get_primitive_count() const		virtual int get_primitive_count() const
{		{
return (int )m_compoundShape->getNumChildShapes();		return (int)m_compoundShape->getNumChildShapes();
}		}

virtual void get_primitive_box(int prim_index ,btAABB & primbox) const		virtual void get_primitive_box(int prim_index, btAABB& primbox) const
{		{
btTransform prim_trans;		btTransform prim_trans;
if(m_compoundShape->childrenHasTransform())		if (m_compoundShape->childrenHasTransform())
{		{
prim_trans = m_compoundShape->getChildTransform(prim_index);		prim_trans = m_compoundShape->getChildTransform(prim_index);
}		}
else		else
{		{
prim_trans.setIdentity();		prim_trans.setIdentity();
}		}
const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index);		const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index);
shape->getAabb(prim_trans,primbox.m_min,primbox.m_max);		shape->getAabb(prim_trans, primbox.m_min, primbox.m_max);
}		}

virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const		virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
{		{
btAssert(0);		btAssert(0);
(void) prim_index; (void) triangle;		(void)prim_index;
		(void)triangle;
}		}

};		};



protected:		protected:
CompoundPrimitiveManager m_primitive_manager;		CompoundPrimitiveManager m_primitive_manager;
btAlignedObjectArray<btTransform> m_childTransforms;		btAlignedObjectArray<btTransform> m_childTransforms;
btAlignedObjectArray<btCollisionShape*> m_childShapes;		btAlignedObjectArray<btCollisionShape*> m_childShapes;


public:		public:

btGImpactCompoundShape(bool children_has_transform = true)		btGImpactCompoundShape(bool children_has_transform = true)
{		{
(void) children_has_transform;		(void)children_has_transform;
m_primitive_manager.m_compoundShape = this;		m_primitive_manager.m_compoundShape = this;
m_box_set.setPrimitiveManager(&m_primitive_manager);		m_box_set.setPrimitiveManager(&m_primitive_manager);
}		}

virtual ~btGImpactCompoundShape()		virtual ~btGImpactCompoundShape()
{		{
}		}


//! if true, then its children must get transforms.		//! if true, then its children must get transforms.
virtual bool childrenHasTransform() const		virtual bool childrenHasTransform() const
{		{
if(m_childTransforms.size()==0) return false;		if (m_childTransforms.size() == 0) return false;
return true;		return true;
}		}


//! Obtains the primitive manager		//! Obtains the primitive manager
virtual const btPrimitiveManagerBase * getPrimitiveManager() const		virtual const btPrimitiveManagerBase* getPrimitiveManager() const
{		{
return &m_primitive_manager;		return &m_primitive_manager;
}		}

//! Obtains the compopund primitive manager		//! Obtains the compopund primitive manager
SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager()		SIMD_FORCE_INLINE CompoundPrimitiveManager* getCompoundPrimitiveManager()
{		{
return &m_primitive_manager;		return &m_primitive_manager;
}		}

//! Gets the number of children		//! Gets the number of children
virtual int getNumChildShapes() const		virtual int getNumChildShapes() const
{		{
return m_childShapes.size();		return m_childShapes.size();
}		}


//! Use this method for adding children. Only Convex shapes are allowed.		//! Use this method for adding children. Only Convex shapes are allowed.
void addChildShape(const btTransform& localTransform,btCollisionShape* shape)		void addChildShape(const btTransform& localTransform, btCollisionShape* shape)
{		{
btAssert(shape->isConvex());		btAssert(shape->isConvex());
m_childTransforms.push_back(localTransform);		m_childTransforms.push_back(localTransform);
m_childShapes.push_back(shape);		m_childShapes.push_back(shape);
}		}

//! Use this method for adding children. Only Convex shapes are allowed.		//! Use this method for adding children. Only Convex shapes are allowed.
void addChildShape(btCollisionShape* shape)		void addChildShape(btCollisionShape* shape)
Show All 10 Lines	public:

//! Gets the children		//! Gets the children
virtual const btCollisionShape* getChildShape(int index) const		virtual const btCollisionShape* getChildShape(int index) const
{		{
return m_childShapes[index];		return m_childShapes[index];
}		}

//! Retrieves the bound from a child		//! Retrieves the bound from a child
/*!		/*!
*/		*/
virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const		virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{		{

if(childrenHasTransform())		if (childrenHasTransform())
{		{
m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax);		m_childShapes[child_index]->getAabb(t * m_childTransforms[child_index], aabbMin, aabbMax);
}		}
else		else
{		{
m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax);		m_childShapes[child_index]->getAabb(t, aabbMin, aabbMax);
}		}
}		}


//! Gets the children transform		//! Gets the children transform
virtual btTransform getChildTransform(int index) const		virtual btTransform getChildTransform(int index) const
{		{
btAssert(m_childTransforms.size() == m_childShapes.size());		btAssert(m_childTransforms.size() == m_childShapes.size());
return m_childTransforms[index];		return m_childTransforms[index];
}		}

//! Sets the children transform		//! Sets the children transform
/*!		/*!
\post You must call updateBound() for update the box set.		\post You must call updateBound() for update the box set.
*/		*/
virtual void setChildTransform(int index, const btTransform & transform)		virtual void setChildTransform(int index, const btTransform& transform)
{		{
btAssert(m_childTransforms.size() == m_childShapes.size());		btAssert(m_childTransforms.size() == m_childShapes.size());
m_childTransforms[index] = transform;		m_childTransforms[index] = transform;
postUpdate();		postUpdate();
}		}

//! Determines if this shape has triangles		//! Determines if this shape has triangles
virtual bool needsRetrieveTriangles() const		virtual bool needsRetrieveTriangles() const
{		{
return false;		return false;
}		}

//! Determines if this shape has tetrahedrons		//! Determines if this shape has tetrahedrons
virtual bool needsRetrieveTetrahedrons() const		virtual bool needsRetrieveTetrahedrons() const
{		{
return false;		return false;
}		}


virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const		virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
{		{
(void) prim_index; (void) triangle;		(void)prim_index;
		(void)triangle;
btAssert(0);		btAssert(0);
}		}

virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const		virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
{		{
(void) prim_index; (void) tetrahedron;		(void)prim_index;
		(void)tetrahedron;
btAssert(0);		btAssert(0);
}		}


//! Calculates the exact inertia tensor for this shape		//! Calculates the exact inertia tensor for this shape
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;		virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;

virtual const char* getName()const		virtual const char* getName() const
{		{
return "GImpactCompound";		return "GImpactCompound";
}		}

virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const		virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
{		{
return CONST_GIMPACT_COMPOUND_SHAPE;		return CONST_GIMPACT_COMPOUND_SHAPE;
}		}

};		};



//! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.		//! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
/*!		/*!
- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh		- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh
- When making operations with this shape, you must call <b>lock</b> before accessing to the trimesh primitives, and then call <b>unlock</b>		- When making operations with this shape, you must call <b>lock</b> before accessing to the trimesh primitives, and then call <b>unlock</b>
- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices.		- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices.

*/		*/
class btGImpactMeshShapePart : public btGImpactShapeInterface		class btGImpactMeshShapePart : public btGImpactShapeInterface
{		{
public:		public:
//! Trimesh primitive manager		//! Trimesh primitive manager
/*!		/*!
Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism		Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism
*/		*/
class TrimeshPrimitiveManager:public btPrimitiveManagerBase		class TrimeshPrimitiveManager : public btPrimitiveManagerBase
{		{
public:		public:
btScalar m_margin;		btScalar m_margin;
btStridingMeshInterface * m_meshInterface;		btStridingMeshInterface* m_meshInterface;
btVector3 m_scale;		btVector3 m_scale;
int m_part;		int m_part;
int m_lock_count;		int m_lock_count;
const unsigned char *vertexbase;		const unsigned char* vertexbase;
int numverts;		int numverts;
PHY_ScalarType type;		PHY_ScalarType type;
int stride;		int stride;
const unsigned char *indexbase;		const unsigned char* indexbase;
int indexstride;		int indexstride;
int numfaces;		int numfaces;
PHY_ScalarType indicestype;		PHY_ScalarType indicestype;

TrimeshPrimitiveManager()		TrimeshPrimitiveManager()
{		{
m_meshInterface = NULL;		m_meshInterface = NULL;
m_part = 0;		m_part = 0;
m_margin = 0.01f;		m_margin = 0.01f;
m_scale = btVector3(1.f,1.f,1.f);		m_scale = btVector3(1.f, 1.f, 1.f);
m_lock_count = 0;		m_lock_count = 0;
vertexbase = 0;		vertexbase = 0;
numverts = 0;		numverts = 0;
stride = 0;		stride = 0;
indexbase = 0;		indexbase = 0;
indexstride = 0;		indexstride = 0;
numfaces = 0;		numfaces = 0;
}		}

TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager)		TrimeshPrimitiveManager(const TrimeshPrimitiveManager& manager)
: btPrimitiveManagerBase()		: btPrimitiveManagerBase()
{		{
m_meshInterface = manager.m_meshInterface;		m_meshInterface = manager.m_meshInterface;
m_part = manager.m_part;		m_part = manager.m_part;
m_margin = manager.m_margin;		m_margin = manager.m_margin;
m_scale = manager.m_scale;		m_scale = manager.m_scale;
m_lock_count = 0;		m_lock_count = 0;
vertexbase = 0;		vertexbase = 0;
numverts = 0;		numverts = 0;
stride = 0;		stride = 0;
indexbase = 0;		indexbase = 0;
indexstride = 0;		indexstride = 0;
numfaces = 0;		numfaces = 0;

}		}

TrimeshPrimitiveManager(		TrimeshPrimitiveManager(
btStridingMeshInterface * meshInterface, int part)		btStridingMeshInterface* meshInterface, int part)
{		{
m_meshInterface = meshInterface;		m_meshInterface = meshInterface;
m_part = part;		m_part = part;
m_scale = m_meshInterface->getScaling();		m_scale = m_meshInterface->getScaling();
m_margin = 0.1f;		m_margin = 0.1f;
m_lock_count = 0;		m_lock_count = 0;
vertexbase = 0;		vertexbase = 0;
numverts = 0;		numverts = 0;
stride = 0;		stride = 0;
indexbase = 0;		indexbase = 0;
indexstride = 0;		indexstride = 0;
numfaces = 0;		numfaces = 0;

}		}

virtual ~TrimeshPrimitiveManager() {}		virtual ~TrimeshPrimitiveManager() {}

void lock()		void lock()
{		{
if(m_lock_count>0)		if (m_lock_count > 0)
{		{
m_lock_count++;		m_lock_count++;
return;		return;
}		}
m_meshInterface->getLockedReadOnlyVertexIndexBase(		m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,numverts,		&vertexbase, numverts,
type, stride,&indexbase, indexstride, numfaces,indicestype,m_part);		type, stride, &indexbase, indexstride, numfaces, indicestype, m_part);

m_lock_count = 1;		m_lock_count = 1;
}		}

void unlock()		void unlock()
{		{
if(m_lock_count == 0) return;		if (m_lock_count == 0) return;
if(m_lock_count>1)		if (m_lock_count > 1)
{		{
--m_lock_count;		--m_lock_count;
return;		return;
}		}
m_meshInterface->unLockReadOnlyVertexBase(m_part);		m_meshInterface->unLockReadOnlyVertexBase(m_part);
vertexbase = NULL;		vertexbase = NULL;
m_lock_count = 0;		m_lock_count = 0;
}		}

virtual bool is_trimesh() const		virtual bool is_trimesh() const
{		{
return true;		return true;
}		}

virtual int get_primitive_count() const		virtual int get_primitive_count() const
{		{
return (int )numfaces;		return (int)numfaces;
}		}

SIMD_FORCE_INLINE int get_vertex_count() const		SIMD_FORCE_INLINE int get_vertex_count() const
{		{
return (int )numverts;		return (int)numverts;
}		}

SIMD_FORCE_INLINE void get_indices(int face_index,unsigned int &i0,unsigned int &i1,unsigned int &i2) const		SIMD_FORCE_INLINE void get_indices(int face_index, unsigned int& i0, unsigned int& i1, unsigned int& i2) const
{		{
if(indicestype == PHY_SHORT)		if (indicestype == PHY_SHORT)
{		{
unsigned short* s_indices = (unsigned short )(indexbase + face_index indexstride);		unsigned short* s_indices = (unsigned short)(indexbase + face_index indexstride);
i0 = s_indices[0];		i0 = s_indices[0];
i1 = s_indices[1];		i1 = s_indices[1];
i2 = s_indices[2];		i2 = s_indices[2];
}		}
else		else if (indicestype == PHY_INTEGER)
{		{
unsigned int * i_indices = (unsigned int )(indexbase + face_indexindexstride);		unsigned int* i_indices = (unsigned int)(indexbase + face_index indexstride);
i0 = i_indices[0];		i0 = i_indices[0];
i1 = i_indices[1];		i1 = i_indices[1];
i2 = i_indices[2];		i2 = i_indices[2];
}		}
		else
		{
		btAssert(indicestype == PHY_UCHAR);
		unsigned char* i_indices = (unsigned char)(indexbase + face_index indexstride);
		i0 = i_indices[0];
		i1 = i_indices[1];
		i2 = i_indices[2];
		}
}		}

SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3 & vertex) const		SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3& vertex) const
{		{
if(type == PHY_DOUBLE)		if (type == PHY_DOUBLE)
{		{
double * dvertices = (double )(vertexbase + vertex_indexstride);		double* dvertices = (double)(vertexbase + vertex_index stride);
vertex[0] = btScalar(dvertices[0]*m_scale[0]);		vertex[0] = btScalar(dvertices[0] * m_scale[0]);
vertex[1] = btScalar(dvertices[1]*m_scale[1]);		vertex[1] = btScalar(dvertices[1] * m_scale[1]);
vertex[2] = btScalar(dvertices[2]*m_scale[2]);		vertex[2] = btScalar(dvertices[2] * m_scale[2]);
}		}
else		else
{		{
float * svertices = (float )(vertexbase + vertex_indexstride);		float* svertices = (float)(vertexbase + vertex_index stride);
vertex[0] = svertices[0]*m_scale[0];		vertex[0] = svertices[0] * m_scale[0];
vertex[1] = svertices[1]*m_scale[1];		vertex[1] = svertices[1] * m_scale[1];
vertex[2] = svertices[2]*m_scale[2];		vertex[2] = svertices[2] * m_scale[2];
}		}
}		}

virtual void get_primitive_box(int prim_index ,btAABB & primbox) const		virtual void get_primitive_box(int prim_index, btAABB& primbox) const
{		{
btPrimitiveTriangle triangle;		btPrimitiveTriangle triangle;
get_primitive_triangle(prim_index,triangle);		get_primitive_triangle(prim_index, triangle);
primbox.calc_from_triangle_margin(		primbox.calc_from_triangle_margin(
triangle.m_vertices[0],		triangle.m_vertices[0],
triangle.m_vertices[1],triangle.m_vertices[2],triangle.m_margin);		triangle.m_vertices[1], triangle.m_vertices[2], triangle.m_margin);
}		}

virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const		virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
{		{
unsigned int indices[3];		unsigned int indices[3];
get_indices(prim_index,indices[0],indices[1],indices[2]);		get_indices(prim_index, indices[0], indices[1], indices[2]);
get_vertex(indices[0],triangle.m_vertices[0]);		get_vertex(indices[0], triangle.m_vertices[0]);
get_vertex(indices[1],triangle.m_vertices[1]);		get_vertex(indices[1], triangle.m_vertices[1]);
get_vertex(indices[2],triangle.m_vertices[2]);		get_vertex(indices[2], triangle.m_vertices[2]);
triangle.m_margin = m_margin;		triangle.m_margin = m_margin;
}		}

SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const		SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index, btTriangleShapeEx& triangle) const
{		{
unsigned int indices[3];		unsigned int indices[3];
get_indices(prim_index,indices[0],indices[1],indices[2]);		get_indices(prim_index, indices[0], indices[1], indices[2]);
get_vertex(indices[0],triangle.m_vertices1[0]);		get_vertex(indices[0], triangle.m_vertices1[0]);
get_vertex(indices[1],triangle.m_vertices1[1]);		get_vertex(indices[1], triangle.m_vertices1[1]);
get_vertex(indices[2],triangle.m_vertices1[2]);		get_vertex(indices[2], triangle.m_vertices1[2]);
triangle.setMargin(m_margin);		triangle.setMargin(m_margin);
}		}

};		};


protected:		protected:
TrimeshPrimitiveManager m_primitive_manager;		TrimeshPrimitiveManager m_primitive_manager;
public:

		public:
btGImpactMeshShapePart()		btGImpactMeshShapePart()
{		{
m_box_set.setPrimitiveManager(&m_primitive_manager);		m_box_set.setPrimitiveManager(&m_primitive_manager);
}		}

		btGImpactMeshShapePart(btStridingMeshInterface* meshInterface, int part);
btGImpactMeshShapePart(btStridingMeshInterface * meshInterface, int part)		virtual ~btGImpactMeshShapePart();
{
m_primitive_manager.m_meshInterface = meshInterface;
m_primitive_manager.m_part = part;
m_box_set.setPrimitiveManager(&m_primitive_manager);
}

virtual ~btGImpactMeshShapePart()
{
}

//! if true, then its children must get transforms.		//! if true, then its children must get transforms.
virtual bool childrenHasTransform() const		virtual bool childrenHasTransform() const
{		{
return false;		return false;
}		}


//! call when reading child shapes		//! call when reading child shapes
virtual void lockChildShapes() const		virtual void lockChildShapes() const;
{		virtual void unlockChildShapes() const;
void * dummy = (void*)(m_box_set.getPrimitiveManager());
TrimeshPrimitiveManager * dummymanager = static_cast<TrimeshPrimitiveManager *>(dummy);
dummymanager->lock();
}

virtual void unlockChildShapes() const
{
void * dummy = (void*)(m_box_set.getPrimitiveManager());
TrimeshPrimitiveManager * dummymanager = static_cast<TrimeshPrimitiveManager *>(dummy);
dummymanager->unlock();
}

//! Gets the number of children		//! Gets the number of children
virtual int getNumChildShapes() const		virtual int getNumChildShapes() const
{		{
return m_primitive_manager.get_primitive_count();		return m_primitive_manager.get_primitive_count();
}		}


//! Gets the children		//! Gets the children
virtual btCollisionShape* getChildShape(int index)		virtual btCollisionShape* getChildShape(int index)
{		{
(void) index;		(void)index;
btAssert(0);		btAssert(0);
return NULL;		return NULL;
}		}



//! Gets the child		//! Gets the child
virtual const btCollisionShape* getChildShape(int index) const		virtual const btCollisionShape* getChildShape(int index) const
{		{
(void) index;		(void)index;
btAssert(0);		btAssert(0);
return NULL;		return NULL;
}		}

//! Gets the children transform		//! Gets the children transform
virtual btTransform getChildTransform(int index) const		virtual btTransform getChildTransform(int index) const
{		{
(void) index;		(void)index;
btAssert(0);		btAssert(0);
return btTransform();		return btTransform();
}		}

//! Sets the children transform		//! Sets the children transform
/*!		/*!
\post You must call updateBound() for update the box set.		\post You must call updateBound() for update the box set.
*/		*/
virtual void setChildTransform(int index, const btTransform & transform)		virtual void setChildTransform(int index, const btTransform& transform)
{		{
(void) index;		(void)index;
(void) transform;		(void)transform;
btAssert(0);		btAssert(0);
}		}


//! Obtains the primitive manager		//! Obtains the primitive manager
virtual const btPrimitiveManagerBase * getPrimitiveManager() const		virtual const btPrimitiveManagerBase* getPrimitiveManager() const
{		{
return &m_primitive_manager;		return &m_primitive_manager;
}		}

SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager()		SIMD_FORCE_INLINE TrimeshPrimitiveManager* getTrimeshPrimitiveManager()
{		{
return &m_primitive_manager;		return &m_primitive_manager;
}		}





virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;		virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;




virtual const char* getName()const		virtual const char* getName() const
{		{
return "GImpactMeshShapePart";		return "GImpactMeshShapePart";
}		}

virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const		virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
{		{
return CONST_GIMPACT_TRIMESH_SHAPE_PART;		return CONST_GIMPACT_TRIMESH_SHAPE_PART;
}		}

//! Determines if this shape has triangles		//! Determines if this shape has triangles
virtual bool needsRetrieveTriangles() const		virtual bool needsRetrieveTriangles() const
{		{
return true;		return true;
}		}

//! Determines if this shape has tetrahedrons		//! Determines if this shape has tetrahedrons
virtual bool needsRetrieveTetrahedrons() const		virtual bool needsRetrieveTetrahedrons() const
{		{
return false;		return false;
}		}

virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const		virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
{		{
m_primitive_manager.get_bullet_triangle(prim_index,triangle);		m_primitive_manager.get_bullet_triangle(prim_index, triangle);
}		}

virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const		virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
{		{
(void) prim_index;		(void)prim_index;
(void) tetrahedron;		(void)tetrahedron;
btAssert(0);		btAssert(0);
}		}



SIMD_FORCE_INLINE int getVertexCount() const		SIMD_FORCE_INLINE int getVertexCount() const
{		{
return m_primitive_manager.get_vertex_count();		return m_primitive_manager.get_vertex_count();
}		}

SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3 & vertex) const		SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3& vertex) const
{		{
m_primitive_manager.get_vertex(vertex_index,vertex);		m_primitive_manager.get_vertex(vertex_index, vertex);
}		}

SIMD_FORCE_INLINE void setMargin(btScalar margin)		SIMD_FORCE_INLINE void setMargin(btScalar margin)
{		{
m_primitive_manager.m_margin = margin;		m_primitive_manager.m_margin = margin;
postUpdate();		postUpdate();
}		}

SIMD_FORCE_INLINE btScalar getMargin() const		SIMD_FORCE_INLINE btScalar getMargin() const
{		{
return m_primitive_manager.m_margin;		return m_primitive_manager.m_margin;
}		}

virtual void setLocalScaling(const btVector3& scaling)		virtual void setLocalScaling(const btVector3& scaling)
{		{
m_primitive_manager.m_scale = scaling;		m_primitive_manager.m_scale = scaling;
postUpdate();		postUpdate();
}		}

virtual const btVector3& getLocalScaling() const		virtual const btVector3& getLocalScaling() const
{		{
return m_primitive_manager.m_scale;		return m_primitive_manager.m_scale;
}		}

SIMD_FORCE_INLINE int getPart() const		SIMD_FORCE_INLINE int getPart() const
{		{
return (int)m_primitive_manager.m_part;		return (int)m_primitive_manager.m_part;
}		}

virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;		virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
virtual void processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const;		virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;
};		};


//! This class manages a mesh supplied by the btStridingMeshInterface interface.		//! This class manages a mesh supplied by the btStridingMeshInterface interface.
/*!		/*!
Set of btGImpactMeshShapePart parts		Set of btGImpactMeshShapePart parts
- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShape, then you must call updateBound() after creating the mesh		- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShape, then you must call updateBound() after creating the mesh

- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices.		- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices.

*/		*/
class btGImpactMeshShape : public btGImpactShapeInterface		class btGImpactMeshShape : public btGImpactShapeInterface
{		{
btStridingMeshInterface* m_meshInterface;		btStridingMeshInterface* m_meshInterface;

protected:		protected:
btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts;		btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts;
void buildMeshParts(btStridingMeshInterface * meshInterface)		void buildMeshParts(btStridingMeshInterface* meshInterface)
{		{
for (int i=0;i<meshInterface->getNumSubParts() ;++i )		for (int i = 0; i < meshInterface->getNumSubParts(); ++i)
{		{
btGImpactMeshShapePart * newpart = new btGImpactMeshShapePart(meshInterface,i);		btGImpactMeshShapePart* newpart = new btGImpactMeshShapePart(meshInterface, i);
m_mesh_parts.push_back(newpart);		m_mesh_parts.push_back(newpart);
}		}
}		}

//! use this function for perfofm refit in bounding boxes		//! use this function for perfofm refit in bounding boxes
virtual void calcLocalAABB()		virtual void calcLocalAABB()
{		{
m_localAABB.invalidate();		m_localAABB.invalidate();
int i = m_mesh_parts.size();		int i = m_mesh_parts.size();
while(i--)		while (i--)
{		{
m_mesh_parts[i]->updateBound();		m_mesh_parts[i]->updateBound();
m_localAABB.merge(m_mesh_parts[i]->getLocalBox());		m_localAABB.merge(m_mesh_parts[i]->getLocalBox());
}		}
}		}

public:		public:
btGImpactMeshShape(btStridingMeshInterface * meshInterface)		btGImpactMeshShape(btStridingMeshInterface* meshInterface)
{		{
m_meshInterface = meshInterface;		m_meshInterface = meshInterface;
buildMeshParts(meshInterface);		buildMeshParts(meshInterface);
}		}

virtual ~btGImpactMeshShape()		virtual ~btGImpactMeshShape()
{		{
int i = m_mesh_parts.size();		int i = m_mesh_parts.size();
while(i--)		while (i--)
{		{
btGImpactMeshShapePart * part = m_mesh_parts[i];		btGImpactMeshShapePart* part = m_mesh_parts[i];
delete part;		delete part;
}		}
m_mesh_parts.clear();		m_mesh_parts.clear();
}		}


btStridingMeshInterface* getMeshInterface()		btStridingMeshInterface* getMeshInterface()
{		{
return m_meshInterface;		return m_meshInterface;
}		}

const btStridingMeshInterface* getMeshInterface() const		const btStridingMeshInterface* getMeshInterface() const
{		{
return m_meshInterface;		return m_meshInterface;
}		}

int getMeshPartCount() const		int getMeshPartCount() const
{		{
return m_mesh_parts.size();		return m_mesh_parts.size();
}		}

btGImpactMeshShapePart * getMeshPart(int index)		btGImpactMeshShapePart* getMeshPart(int index)
{		{
return m_mesh_parts[index];		return m_mesh_parts[index];
}		}



const btGImpactMeshShapePart * getMeshPart(int index) const		const btGImpactMeshShapePart* getMeshPart(int index) const
{		{
return m_mesh_parts[index];		return m_mesh_parts[index];
}		}


virtual void setLocalScaling(const btVector3& scaling)		virtual void setLocalScaling(const btVector3& scaling)
{		{
localScaling = scaling;		localScaling = scaling;

int i = m_mesh_parts.size();		int i = m_mesh_parts.size();
while(i--)		while (i--)
{		{
btGImpactMeshShapePart * part = m_mesh_parts[i];		btGImpactMeshShapePart* part = m_mesh_parts[i];
part->setLocalScaling(scaling);		part->setLocalScaling(scaling);
}		}

m_needs_update = true;		m_needs_update = true;
}		}

virtual void setMargin(btScalar margin)		virtual void setMargin(btScalar margin)
{		{
m_collisionMargin = margin;		m_collisionMargin = margin;

int i = m_mesh_parts.size();		int i = m_mesh_parts.size();
while(i--)		while (i--)
{		{
btGImpactMeshShapePart * part = m_mesh_parts[i];		btGImpactMeshShapePart* part = m_mesh_parts[i];
part->setMargin(margin);		part->setMargin(margin);
}		}

m_needs_update = true;		m_needs_update = true;
}		}

//! Tells to this object that is needed to refit all the meshes		//! Tells to this object that is needed to refit all the meshes
virtual void postUpdate()		virtual void postUpdate()
{		{
int i = m_mesh_parts.size();		int i = m_mesh_parts.size();
while(i--)		while (i--)
{		{
btGImpactMeshShapePart * part = m_mesh_parts[i];		btGImpactMeshShapePart* part = m_mesh_parts[i];
part->postUpdate();		part->postUpdate();
}		}

m_needs_update = true;		m_needs_update = true;
}		}

virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;		virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;


//! Obtains the primitive manager		//! Obtains the primitive manager
virtual const btPrimitiveManagerBase * getPrimitiveManager() const		virtual const btPrimitiveManagerBase* getPrimitiveManager() const
{		{
btAssert(0);		btAssert(0);
return NULL;		return NULL;
}		}


//! Gets the number of children		//! Gets the number of children
virtual int getNumChildShapes() const		virtual int getNumChildShapes() const
{		{
btAssert(0);		btAssert(0);
return 0;		return 0;
}		}


//! if true, then its children must get transforms.		//! if true, then its children must get transforms.
virtual bool childrenHasTransform() const		virtual bool childrenHasTransform() const
{		{
btAssert(0);		btAssert(0);
return false;		return false;
}		}

//! Determines if this shape has triangles		//! Determines if this shape has triangles
virtual bool needsRetrieveTriangles() const		virtual bool needsRetrieveTriangles() const
{		{
btAssert(0);		btAssert(0);
return false;		return false;
}		}

//! Determines if this shape has tetrahedrons		//! Determines if this shape has tetrahedrons
virtual bool needsRetrieveTetrahedrons() const		virtual bool needsRetrieveTetrahedrons() const
{		{
btAssert(0);		btAssert(0);
return false;		return false;
}		}

virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const		virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
{		{
(void) prim_index; (void) triangle;		(void)prim_index;
		(void)triangle;
btAssert(0);		btAssert(0);
}		}

virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const		virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
{		{
(void) prim_index; (void) tetrahedron;		(void)prim_index;
		(void)tetrahedron;
btAssert(0);		btAssert(0);
}		}

//! call when reading child shapes		//! call when reading child shapes
virtual void lockChildShapes() const		virtual void lockChildShapes() const
{		{
btAssert(0);		btAssert(0);
}		}

virtual void unlockChildShapes() const		virtual void unlockChildShapes() const
{		{
btAssert(0);		btAssert(0);
}		}




//! Retrieves the bound from a child		//! Retrieves the bound from a child
/*!		/*!
*/		*/
virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const		virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{		{
(void) child_index; (void) t; (void) aabbMin; (void) aabbMax;		(void)child_index;
		(void)t;
		(void)aabbMin;
		(void)aabbMax;
btAssert(0);		btAssert(0);
}		}

//! Gets the children		//! Gets the children
virtual btCollisionShape* getChildShape(int index)		virtual btCollisionShape* getChildShape(int index)
{		{
(void) index;		(void)index;
btAssert(0);		btAssert(0);
return NULL;		return NULL;
}		}


//! Gets the child		//! Gets the child
virtual const btCollisionShape* getChildShape(int index) const		virtual const btCollisionShape* getChildShape(int index) const
{		{
(void) index;		(void)index;
btAssert(0);		btAssert(0);
return NULL;		return NULL;
}		}

//! Gets the children transform		//! Gets the children transform
virtual btTransform getChildTransform(int index) const		virtual btTransform getChildTransform(int index) const
{		{
(void) index;		(void)index;
btAssert(0);		btAssert(0);
return btTransform();		return btTransform();
}		}

//! Sets the children transform		//! Sets the children transform
/*!		/*!
\post You must call updateBound() for update the box set.		\post You must call updateBound() for update the box set.
*/		*/
virtual void setChildTransform(int index, const btTransform & transform)		virtual void setChildTransform(int index, const btTransform& transform)
{		{
(void) index; (void) transform;		(void)index;
		(void)transform;
btAssert(0);		btAssert(0);
}		}


virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const		virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
{		{
return CONST_GIMPACT_TRIMESH_SHAPE;		return CONST_GIMPACT_TRIMESH_SHAPE;
}		}


virtual const char* getName()const		virtual const char* getName() const
{		{
return "GImpactMesh";		return "GImpactMesh";
}		}

virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const;		virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const;

//! Function for retrieve triangles.		//! Function for retrieve triangles.
/*!		/*!
It gives the triangles in local space		It gives the triangles in local space
*/		*/
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;		virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;

virtual void processAllTrianglesRay (btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const;		virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;

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 btGImpactMeshShapeData		struct btGImpactMeshShapeData
{		{
btCollisionShapeData m_collisionShapeData;		btCollisionShapeData m_collisionShapeData;

btStridingMeshInterfaceData m_meshInterface;		btStridingMeshInterfaceData m_meshInterface;

btVector3FloatData m_localScaling;		btVector3FloatData m_localScaling;

float m_collisionMargin;		float m_collisionMargin;

int m_gimpactSubType;		int m_gimpactSubType;
};		};

SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const		SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const
{		{
return sizeof(btGImpactMeshShapeData);		return sizeof(btGImpactMeshShapeData);
}		}


#endif //GIMPACT_MESH_SHAPE_H		#endif //GIMPACT_MESH_SHAPE_H