133 lines
3.7 KiB
C++
133 lines
3.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 COMPOUND_SHAPE_H
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#define COMPOUND_SHAPE_H
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#include "btCollisionShape.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btMatrix3x3.h"
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#include "btCollisionMargin.h"
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#include "LinearMath/btAlignedObjectArray.h"
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class btOptimizedBvh;
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ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
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{
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btTransform m_transform;
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btCollisionShape* m_childShape;
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int m_childShapeType;
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btScalar m_childMargin;
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};
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/// btCompoundShape allows to store multiple other btCollisionShapes
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/// This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape.
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ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
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{
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//btAlignedObjectArray<btTransform> m_childTransforms;
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//btAlignedObjectArray<btCollisionShape*> m_childShapes;
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btAlignedObjectArray<btCompoundShapeChild> m_children;
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btVector3 m_localAabbMin;
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btVector3 m_localAabbMax;
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btOptimizedBvh* m_aabbTree;
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public:
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btCompoundShape();
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virtual ~btCompoundShape();
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void addChildShape(const btTransform& localTransform,btCollisionShape* shape);
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int getNumChildShapes() const
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{
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return int (m_children.size());
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}
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btCollisionShape* getChildShape(int index)
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{
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return m_children[index].m_childShape;
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}
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const btCollisionShape* getChildShape(int index) const
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{
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return m_children[index].m_childShape;
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}
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btTransform getChildTransform(int index)
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{
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return m_children[index].m_transform;
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}
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const btTransform getChildTransform(int index) const
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{
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return m_children[index].m_transform;
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}
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btCompoundShapeChild* getChildList()
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{
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return &m_children[0];
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}
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///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
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void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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virtual void setLocalScaling(const btVector3& scaling)
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{
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m_localScaling = scaling;
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}
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virtual const btVector3& getLocalScaling() const
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{
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return m_localScaling;
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}
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
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virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
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virtual void setMargin(btScalar margin)
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{
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m_collisionMargin = margin;
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}
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virtual btScalar getMargin() const
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{
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return m_collisionMargin;
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}
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virtual const char* getName()const
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{
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return "Compound";
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}
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//this is optional, but should make collision queries faster, by culling non-overlapping nodes
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void createAabbTreeFromChildren();
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const btOptimizedBvh* getAabbTree() const
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{
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return m_aabbTree;
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}
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private:
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btScalar m_collisionMargin;
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protected:
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btVector3 m_localScaling;
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};
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#endif //COMPOUND_SHAPE_H
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