| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef COLLISION_SHAPE_H |
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| 17 | #define COLLISION_SHAPE_H |
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| 18 | |
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| 19 | #include "LinearMath/btTransform.h" |
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| 20 | #include "LinearMath/btVector3.h" |
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| 21 | #include "LinearMath/btMatrix3x3.h" |
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| 22 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types |
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| 23 | |
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| 24 | ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. |
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| 25 | class btCollisionShape |
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| 26 | { |
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| 27 | protected: |
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| 28 | int m_shapeType; |
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| 29 | void* m_userPointer; |
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| 30 | |
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| 31 | public: |
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| 32 | |
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| 33 | btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0) |
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| 34 | { |
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| 35 | } |
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| 36 | |
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| 37 | virtual ~btCollisionShape() |
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| 38 | { |
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| 39 | } |
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| 40 | |
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| 41 | ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. |
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| 42 | virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; |
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| 43 | |
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| 44 | virtual void getBoundingSphere(btVector3& center,btScalar& radius) const; |
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| 45 | |
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| 46 | ///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations. |
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| 47 | virtual btScalar getAngularMotionDisc() const; |
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| 48 | |
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| 49 | virtual btScalar getContactBreakingThreshold() const; |
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| 50 | |
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| 51 | |
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| 52 | ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) |
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| 53 | ///result is conservative |
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| 54 | void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const; |
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| 55 | |
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| 56 | #ifndef __SPU__ |
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| 57 | |
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| 58 | SIMD_FORCE_INLINE bool isPolyhedral() const |
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| 59 | { |
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| 60 | return btBroadphaseProxy::isPolyhedral(getShapeType()); |
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| 61 | } |
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| 62 | |
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| 63 | SIMD_FORCE_INLINE bool isConvex() const |
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| 64 | { |
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| 65 | return btBroadphaseProxy::isConvex(getShapeType()); |
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| 66 | } |
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| 67 | SIMD_FORCE_INLINE bool isConcave() const |
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| 68 | { |
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| 69 | return btBroadphaseProxy::isConcave(getShapeType()); |
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| 70 | } |
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| 71 | SIMD_FORCE_INLINE bool isCompound() const |
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| 72 | { |
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| 73 | return btBroadphaseProxy::isCompound(getShapeType()); |
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| 74 | } |
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| 75 | |
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| 76 | ///isInfinite is used to catch simulation error (aabb check) |
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| 77 | SIMD_FORCE_INLINE bool isInfinite() const |
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| 78 | { |
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| 79 | return btBroadphaseProxy::isInfinite(getShapeType()); |
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| 80 | } |
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| 81 | |
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| 82 | |
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| 83 | virtual void setLocalScaling(const btVector3& scaling) =0; |
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| 84 | virtual const btVector3& getLocalScaling() const =0; |
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| 85 | virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0; |
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| 86 | |
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| 87 | |
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| 88 | //debugging support |
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| 89 | virtual const char* getName()const =0 ; |
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| 90 | #endif //__SPU__ |
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| 91 | |
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| 92 | |
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| 93 | int getShapeType() const { return m_shapeType; } |
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| 94 | virtual void setMargin(btScalar margin) = 0; |
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| 95 | virtual btScalar getMargin() const = 0; |
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| 96 | |
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| 97 | |
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| 98 | ///optional user data pointer |
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| 99 | void setUserPointer(void* userPtr) |
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| 100 | { |
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| 101 | m_userPointer = userPtr; |
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| 102 | } |
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| 103 | |
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| 104 | void* getUserPointer() const |
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| 105 | { |
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| 106 | return m_userPointer; |
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| 107 | } |
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| 108 | |
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| 109 | }; |
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| 110 | |
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| 111 | #endif //COLLISION_SHAPE_H |
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| 112 | |
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