Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h (modified) (4 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h

@@ +1 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+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.
+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.
+*/
 
 #ifndef BT_CONVEX_INTERNAL_SHAPE_H
@@ -4 +18 @@
 
 #include "btConvexShape.h"
+#include "LinearMath/btAabbUtil2.h"
+
 
 ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
@@ -36 +52 @@
         {
                 return m_implicitShapeDimensions;
+        }
+
+        ///warning: use setImplicitShapeDimensions with care
+        ///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
+        ///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'
+        void    setImplicitShapeDimensions(const btVector3& dimensions)
+        {
+                m_implicitShapeDimensions = dimensions;
         }
 
@@ -86 +111 @@
         }
 
+        virtual int     calculateSerializeBufferSize() const;
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
 
         
 };
 
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct  btConvexInternalShapeData
+{
+        btCollisionShapeData    m_collisionShapeData;
+
+        btVector3FloatData      m_localScaling;
+
+        btVector3FloatData      m_implicitShapeDimensions;
+        
+        float                   m_collisionMargin;
+
+        int     m_padding;
+
+};
+
+
+
+SIMD_FORCE_INLINE       int     btConvexInternalShape::calculateSerializeBufferSize() const
+{
+        return sizeof(btConvexInternalShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE       const char*     btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+        btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
+        btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
+
+        m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
+        m_localScaling.serializeFloat(shapeData->m_localScaling);
+        shapeData->m_collisionMargin = float(m_collisionMargin);
+
+        return "btConvexInternalShapeData";
+}
+
+
+
+
+///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations
+class btConvexInternalAabbCachingShape : public btConvexInternalShape
+{
+        btVector3       m_localAabbMin;
+        btVector3       m_localAabbMax;
+        bool            m_isLocalAabbValid;
+        
+protected:
+                                        
+        btConvexInternalAabbCachingShape();
+        
+        void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
+        {
+                m_isLocalAabbValid = true;
+                m_localAabbMin = aabbMin;
+                m_localAabbMax = aabbMax;
+        }
+
+        inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
+        {
+                btAssert(m_isLocalAabbValid);
+                aabbMin = m_localAabbMin;
+                aabbMax = m_localAabbMax;
+        }
+
+        inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
+        {
+
+                //lazy evaluation of local aabb
+                btAssert(m_isLocalAabbValid);
+                btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
+        }
+                
+public:
+                
+        virtual void    setLocalScaling(const btVector3& scaling);
+
+        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+        void    recalcLocalAabb();
+
+};
 
 #endif //BT_CONVEX_INTERNAL_SHAPE_H