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source: code/branches/pickups/src/bullet/BulletCollision/CollisionShapes/btCompoundShape.h @ 3015

Last change on this file since 3015 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

  • Property svn:eol-style set to native
File size: 5.4 KB
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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 COMPOUND_SHAPE_H
17#define COMPOUND_SHAPE_H
18
19#include "btCollisionShape.h"
20
21#include "LinearMath/btVector3.h"
22#include "LinearMath/btTransform.h"
23#include "LinearMath/btMatrix3x3.h"
24#include "btCollisionMargin.h"
25#include "LinearMath/btAlignedObjectArray.h"
26
27//class btOptimizedBvh;
28struct btDbvt;
29
30ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
31{
32        BT_DECLARE_ALIGNED_ALLOCATOR();
33
34        btTransform                     m_transform;
35        btCollisionShape*       m_childShape;
36        int                                     m_childShapeType;
37        btScalar                        m_childMargin;
38        struct btDbvtNode*      m_node;
39};
40
41SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
42{
43        return  ( c1.m_transform      == c2.m_transform &&
44                c1.m_childShape     == c2.m_childShape &&
45                c1.m_childShapeType == c2.m_childShapeType &&
46                c1.m_childMargin    == c2.m_childMargin );
47}
48
49/// The btCompoundShape allows to store multiple other btCollisionShapes
50/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
51/// It has an (optional) dynamic aabb tree to accelerate early rejection tests.
52/// @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
53/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
54ATTRIBUTE_ALIGNED16(class) btCompoundShape      : public btCollisionShape
55{
56        btAlignedObjectArray<btCompoundShapeChild> m_children;
57        btVector3                                               m_localAabbMin;
58        btVector3                                               m_localAabbMax;
59
60        btDbvt*                                                 m_dynamicAabbTree;
61
62public:
63        BT_DECLARE_ALIGNED_ALLOCATOR();
64
65        btCompoundShape(bool enableDynamicAabbTree = true);
66
67        virtual ~btCompoundShape();
68
69        void    addChildShape(const btTransform& localTransform,btCollisionShape* shape);
70
71        /// Remove all children shapes that contain the specified shape
72        virtual void removeChildShape(btCollisionShape* shape);
73
74        void removeChildShapeByIndex(int childShapeindex);
75
76
77        int             getNumChildShapes() const
78        {
79                return int (m_children.size());
80        }
81
82        btCollisionShape* getChildShape(int index)
83        {
84                return m_children[index].m_childShape;
85        }
86        const btCollisionShape* getChildShape(int index) const
87        {
88                return m_children[index].m_childShape;
89        }
90
91        btTransform&    getChildTransform(int index)
92        {
93                return m_children[index].m_transform;
94        }
95        const btTransform&      getChildTransform(int index) const
96        {
97                return m_children[index].m_transform;
98        }
99
100        ///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
101        void    updateChildTransform(int childIndex, const btTransform& newChildTransform);
102
103
104        btCompoundShapeChild* getChildList()
105        {
106                return &m_children[0];
107        }
108
109        ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
110        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
111
112        /** Re-calculate the local Aabb. Is called at the end of removeChildShapes.
113        Use this yourself if you modify the children or their transforms. */
114        virtual void recalculateLocalAabb(); 
115
116        virtual void    setLocalScaling(const btVector3& scaling)
117        {
118                m_localScaling = scaling;
119        }
120        virtual const btVector3& getLocalScaling() const 
121        {
122                return m_localScaling;
123        }
124
125        virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
126
127        virtual void    setMargin(btScalar margin)
128        {
129                m_collisionMargin = margin;
130        }
131        virtual btScalar        getMargin() const
132        {
133                return m_collisionMargin;
134        }
135        virtual const char*     getName()const
136        {
137                return "Compound";
138        }
139
140        //this is optional, but should make collision queries faster, by culling non-overlapping nodes
141        void    createAabbTreeFromChildren();
142
143        btDbvt*                                                 getDynamicAabbTree()
144        {
145                return m_dynamicAabbTree;
146        }
147
148        ///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
149        ///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform
150        ///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound
151        ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
152        ///of the collision object by the principal transform.
153        void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
154
155
156private:
157        btScalar        m_collisionMargin;
158protected:
159        btVector3       m_localScaling;
160
161};
162
163
164
165#endif //COMPOUND_SHAPE_H
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