| /* |
| 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 BVH_TRIANGLE_MESH_SHAPE_H |
| #define BVH_TRIANGLE_MESH_SHAPE_H |
| |
| #include "btTriangleMeshShape.h" |
| #include "btOptimizedBvh.h" |
| #include "LinearMath/btAlignedAllocator.h" |
| |
| |
| ///The btBvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage. |
| ///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method. |
| ///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk. |
| ///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example. |
| ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape |
| { |
| |
| btOptimizedBvh* m_bvh; |
| bool m_useQuantizedAabbCompression; |
| bool m_ownsBvh; |
| bool m_pad[11];////need padding due to alignment |
| |
| public: |
| |
| BT_DECLARE_ALIGNED_ALLOCATOR(); |
| |
| btBvhTriangleMeshShape() : btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;}; |
| btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true); |
| |
| ///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb |
| btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true); |
| |
| virtual ~btBvhTriangleMeshShape(); |
| |
| bool getOwnsBvh () const |
| { |
| return m_ownsBvh; |
| } |
| |
| |
| |
| void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget); |
| void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax); |
| |
| virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; |
| |
| void refitTree(const btVector3& aabbMin,const btVector3& aabbMax); |
| |
| ///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks |
| void partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax); |
| |
| //debugging |
| virtual const char* getName()const {return "BVHTRIANGLEMESH";} |
| |
| |
| virtual void setLocalScaling(const btVector3& scaling); |
| |
| btOptimizedBvh* getOptimizedBvh() |
| { |
| return m_bvh; |
| } |
| |
| |
| void setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1)); |
| |
| bool usesQuantizedAabbCompression() const |
| { |
| return m_useQuantizedAabbCompression; |
| } |
| } |
| ; |
| |
| #endif //BVH_TRIANGLE_MESH_SHAPE_H |