100 lines
3.1 KiB
C
100 lines
3.1 KiB
C
|
/*
|
||
|
|
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 MULTI_SPHERE_MINKOWSKI_H
|
||
|
|
#define MULTI_SPHERE_MINKOWSKI_H
|
||
|
|
|
||
|
|
#include "btConvexInternalShape.h"
|
||
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||
|
|
#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* positions,const btScalar* radi,int numSpheres);
|
||
|
|
|
||
|
|
///CollisionShape Interface
|
||
|
|
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||
|
|
|
||
|
|
/// btConvexShape Interface
|
||
|
|
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||
|
|
|
||
|
|
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||
|
|
|
||
|
|
int getSphereCount() const
|
||
|
|
{
|
||
|
|
return m_localPositionArray.size();
|
||
|
|
}
|
||
|
|
|
||
|
|
const btVector3& getSpherePosition(int index) const
|
||
|
|
{
|
||
|
|
return m_localPositionArray[index];
|
||
|
|
}
|
||
|
|
|
||
|
|
btScalar getSphereRadius(int index) const
|
||
|
|
{
|
||
|
|
return m_radiArray[index];
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
virtual const char* getName()const
|
||
|
|
{
|
||
|
|
return "MultiSphere";
|
||
|
|
}
|
||
|
|
|
||
|
|
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
|