| /* |
| 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 COLLISION_SHAPE_H |
| #define COLLISION_SHAPE_H |
| |
| #include "LinearMath/btTransform.h" |
| #include "LinearMath/btVector3.h" |
| #include "LinearMath/btMatrix3x3.h" |
| #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types |
| |
| ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. |
| class btCollisionShape |
| { |
| protected: |
| int m_shapeType; |
| void* m_userPointer; |
| |
| public: |
| |
| btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0) |
| { |
| } |
| |
| virtual ~btCollisionShape() |
| { |
| } |
| |
| ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. |
| virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; |
| |
| virtual void getBoundingSphere(btVector3& center,btScalar& radius) const; |
| |
| ///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations. |
| virtual btScalar getAngularMotionDisc() const; |
| |
| virtual btScalar getContactBreakingThreshold() const; |
| |
| |
| ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) |
| ///result is conservative |
| void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const; |
| |
| #ifndef __SPU__ |
| |
| SIMD_FORCE_INLINE bool isPolyhedral() const |
| { |
| return btBroadphaseProxy::isPolyhedral(getShapeType()); |
| } |
| |
| SIMD_FORCE_INLINE bool isConvex2d() const |
| { |
| return btBroadphaseProxy::isConvex2d(getShapeType()); |
| } |
| |
| SIMD_FORCE_INLINE bool isConvex() const |
| { |
| return btBroadphaseProxy::isConvex(getShapeType()); |
| } |
| SIMD_FORCE_INLINE bool isConcave() const |
| { |
| return btBroadphaseProxy::isConcave(getShapeType()); |
| } |
| SIMD_FORCE_INLINE bool isCompound() const |
| { |
| return btBroadphaseProxy::isCompound(getShapeType()); |
| } |
| |
| ///isInfinite is used to catch simulation error (aabb check) |
| SIMD_FORCE_INLINE bool isInfinite() const |
| { |
| return btBroadphaseProxy::isInfinite(getShapeType()); |
| } |
| |
| |
| virtual void setLocalScaling(const btVector3& scaling) =0; |
| virtual const btVector3& getLocalScaling() const =0; |
| virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0; |
| |
| |
| //debugging support |
| virtual const char* getName()const =0 ; |
| #endif //__SPU__ |
| |
| |
| int getShapeType() const { return m_shapeType; } |
| virtual void setMargin(btScalar margin) = 0; |
| virtual btScalar getMargin() const = 0; |
| |
| |
| ///optional user data pointer |
| void setUserPointer(void* userPtr) |
| { |
| m_userPointer = userPtr; |
| } |
| |
| void* getUserPointer() const |
| { |
| return m_userPointer; |
| } |
| |
| }; |
| |
| #endif //COLLISION_SHAPE_H |
| |