160 lines
4.7 KiB
C
160 lines
4.7 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_COLLISION_SHAPE_H
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#define BT_COLLISION_SHAPE_H
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btMatrix3x3.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
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class btSerializer;
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///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
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ATTRIBUTE_ALIGNED16(class) btCollisionShape
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{
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protected:
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int m_shapeType;
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void* m_userPointer;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
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{
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}
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virtual ~btCollisionShape()
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{
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}
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///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
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virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
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virtual void getBoundingSphere(btVector3& center,btScalar& radius) const;
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///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
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virtual btScalar getAngularMotionDisc() const;
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virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
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///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
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///result is conservative
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void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
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SIMD_FORCE_INLINE bool isPolyhedral() const
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{
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return btBroadphaseProxy::isPolyhedral(getShapeType());
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}
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SIMD_FORCE_INLINE bool isConvex2d() const
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{
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return btBroadphaseProxy::isConvex2d(getShapeType());
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}
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SIMD_FORCE_INLINE bool isConvex() const
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{
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return btBroadphaseProxy::isConvex(getShapeType());
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}
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SIMD_FORCE_INLINE bool isNonMoving() const
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{
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return btBroadphaseProxy::isNonMoving(getShapeType());
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}
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SIMD_FORCE_INLINE bool isConcave() const
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{
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return btBroadphaseProxy::isConcave(getShapeType());
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}
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SIMD_FORCE_INLINE bool isCompound() const
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{
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return btBroadphaseProxy::isCompound(getShapeType());
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}
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SIMD_FORCE_INLINE bool isSoftBody() const
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{
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return btBroadphaseProxy::isSoftBody(getShapeType());
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}
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///isInfinite is used to catch simulation error (aabb check)
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SIMD_FORCE_INLINE bool isInfinite() const
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{
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return btBroadphaseProxy::isInfinite(getShapeType());
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}
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#ifndef __SPU__
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virtual void setLocalScaling(const btVector3& scaling) =0;
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virtual const btVector3& getLocalScaling() const =0;
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
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//debugging support
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virtual const char* getName()const =0 ;
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#endif //__SPU__
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int getShapeType() const { return m_shapeType; }
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///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
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///See Bullet/Demos/RollingFrictionDemo for an example
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virtual btVector3 getAnisotropicRollingFrictionDirection() const
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{
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return btVector3(1,1,1);
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}
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virtual void setMargin(btScalar margin) = 0;
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virtual btScalar getMargin() const = 0;
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///optional user data pointer
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void setUserPointer(void* userPtr)
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{
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m_userPointer = userPtr;
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}
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void* getUserPointer() const
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{
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return m_userPointer;
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}
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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virtual void serializeSingleShape(btSerializer* serializer) const;
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btCollisionShapeData
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{
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char *m_name;
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int m_shapeType;
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char m_padding[4];
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};
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SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
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{
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return sizeof(btCollisionShapeData);
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}
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#endif //BT_COLLISION_SHAPE_H
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