Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.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/btMultiSphereShape.h (modified) (4 diffs)

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

@@ -1 +1 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
@@ -19 +19 @@
 #include "btConvexInternalShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-
-#define MAX_NUM_SPHERES 5
-
-///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
-///It is possible to animate the spheres for deformation.
-class btMultiSphereShape : public btConvexInternalShape
-
-{
-        
-        btVector3 m_localPositions[MAX_NUM_SPHERES];
-        btScalar  m_radi[MAX_NUM_SPHERES];
-        btVector3       m_inertiaHalfExtents;
-
-        int m_numSpheres;
-        
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btAabbUtil2.h"
 
 
 
+///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
+///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
+class btMultiSphereShape : public btConvexInternalAabbCachingShape
+{
+        
+        btAlignedObjectArray<btVector3> m_localPositionArray;
+        btAlignedObjectArray<btScalar>  m_radiArray;
+        
 public:
-        btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres);
+        btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
 
         ///CollisionShape Interface
@@ -50 +45 @@
         int     getSphereCount() const
         {
-                return m_numSpheres;
+                return m_localPositionArray.size();
         }
 
         const btVector3&        getSpherePosition(int index) const
         {
-                return m_localPositions[index];
+                return m_localPositionArray[index];
         }
 
         btScalar        getSphereRadius(int index) const
         {
-                return m_radi[index];
+                return m_radiArray[index];
         }
 
@@ -69 +64 @@
         }
 
+        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;
+
+
 };
 
 
+struct  btPositionAndRadius
+{
+        btVector3FloatData      m_pos;
+        float           m_radius;
+};
+
+struct  btMultiSphereShapeData
+{
+        btConvexInternalShapeData       m_convexInternalShapeData;
+
+        btPositionAndRadius     *m_localPositionArrayPtr;
+        int                             m_localPositionArraySize;
+        char    m_padding[4];
+};
+
+
+
+SIMD_FORCE_INLINE       int     btMultiSphereShape::calculateSerializeBufferSize() const
+{
+        return sizeof(btMultiSphereShapeData);
+}
+
+
+
 #endif //MULTI_SPHERE_MINKOWSKI_H