25 #ifndef GIMPACT_SHAPE_H 26 #define GIMPACT_SHAPE_H 138 aabbMin = transformedbox.
m_min;
139 aabbMax = transformedbox.
m_max;
254 aabbMin = child_aabb.
m_min;
255 aabbMax = child_aabb.
m_max;
280 (void) rayFrom; (void) rayTo; (void) resultCallback;
289 (void) callback; (void) aabbMin; (void) aabbMax;
365 (void) prim_index; (void) triangle;
382 (void) children_has_transform;
496 (void) prim_index; (void) triangle;
502 (void) prim_index; (void) tetrahedron;
512 return "GImpactCompound";
678 vertex[0] = svertices[0]*
m_scale[0];
679 vertex[1] = svertices[1]*
m_scale[1];
680 vertex[2] = svertices[2]*
m_scale[2];
695 unsigned int indices[3];
696 get_indices(prim_index,indices[0],indices[1],indices[2]);
705 unsigned int indices[3];
706 get_indices(prim_index,indices[0],indices[1],indices[2]);
806 return "GImpactMeshShapePart";
1047 (void) prim_index; (void) triangle;
1053 (void) prim_index; (void) tetrahedron;
1076 (void) child_index; (void) t; (void) aabbMin; (void) aabbMax;
1111 (void) index; (void) transform;
1124 return "GImpactMesh";
1164 #endif //GIMPACT_MESH_SHAPE_H virtual int get_primitive_count() const
int getMeshPartCount() const
virtual const btVector3 & getLocalScaling() const
virtual bool childrenHasTransform() const =0
if true, then its children must get transforms.
virtual btTransform getChildTransform(int index) const
Gets the children transform.
void push_back(const T &_Val)
virtual const char * getName() const
virtual bool needsRetrieveTetrahedrons() const =0
Determines if this shape has tetrahedrons.
virtual ~btGImpactMeshShape()
Helper class for colliding Bullet Triangle Shapes.
CompoundPrimitiveManager()
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
Subshape member functions.
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
virtual void setMargin(btScalar margin)
virtual void postUpdate()
Tells to this object that is needed to refit all the meshes.
virtual btTransform getChildTransform(int index) const
Gets the children transform.
void setVertices(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, const btVector3 &v3)
virtual void lockChildShapes() const
call when reading child shapes
virtual bool childrenHasTransform() const
if true, then its children must get transforms.
virtual void setLocalScaling(const btVector3 &scaling)
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Function for retrieve triangles.
virtual bool needsRetrieveTetrahedrons() const
Determines if this shape has tetrahedrons.
virtual bool needsRetrieveTriangles() const =0
Determines if this shape has triangles.
const btAABB & getLocalBox()
Obtains the local box, which is the global calculated box of the total of subshapes.
virtual bool needsRetrieveTriangles() const
Determines if this shape has triangles.
btGImpactShapeInterface()
btAABB getGlobalBox() const
virtual int getNumChildShapes() const
Gets the number of children.
virtual bool needsRetrieveTetrahedrons() const
Determines if this shape has tetrahedrons.
int getVertexCount() const
btScalar getMargin() const
TrimeshPrimitiveManager(btStridingMeshInterface *meshInterface, int part)
virtual void setLocalScaling(const btVector3 &scaling)
void setMargin(btScalar margin)
CompoundPrimitiveManager(const CompoundPrimitiveManager &compound)
void get_indices(int face_index, unsigned int &i0, unsigned int &i1, unsigned int &i2) const
virtual void processAllTrianglesRay(btTriangleCallback *callback, const btVector3 &rayFrom, const btVector3 &rayTo) const
Function for retrieve triangles.
void addChildShape(const btTransform &localTransform, btCollisionShape *shape)
Use this method for adding children. Only Convex shapes are allowed.
virtual void calcLocalAABB()
use this function for perfofm refit in bounding boxes
btScalar m_collisionMargin
virtual bool childrenHasTransform() const
if true, then its children must get transforms.
virtual void rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, btCollisionWorld::RayResultCallback &resultCallback) const
virtual method for ray collision
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
RayResultCallback is used to report new raycast results.
virtual const btVector3 & getLocalScaling() const
virtual void unlockChildShapes() const
#define SIMD_FORCE_INLINE
CompoundPrimitiveManager m_primitive_manager
void addChildShape(btCollisionShape *shape)
Use this method for adding children. Only Convex shapes are allowed.
virtual void lockChildShapes() const
call when reading child shapes
void get_bullet_triangle(int prim_index, btTriangleShapeEx &triangle) const
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Function for retrieve triangles.
virtual int getNumChildShapes() const
Gets the number of children.
virtual bool is_trimesh() const
determines if this manager consist on only triangles, which special case will be optimized
const btGImpactBoxSet * getBoxSet() const
gets boxset
virtual bool is_trimesh() const
determines if this manager consist on only triangles, which special case will be optimized
void buildMeshParts(btStridingMeshInterface *meshInterface)
void merge(const btAABB &box)
Merges a Box.
This class manages a mesh supplied by the btStridingMeshInterface interface.
Used for GIMPACT Trimesh integration.
virtual void getChildAabb(int child_index, const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Retrieves the bound from a child.
const unsigned char * vertexbase
virtual void unlockChildShapes() const
btGImpactBoxSet m_box_set
Prototype Base class for primitive classification.
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
CompoundPrimitiveManager(btGImpactCompoundShape *compoundShape)
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
Subshape member functions.
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx &tetrahedron) const =0
virtual void getBulletTriangle(int prim_index, btTriangleShapeEx &triangle) const
compound primitive manager
btGImpactCompoundShape(bool children_has_transform=true)
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
If the Bounding box is not updated, then this class attemps to calculate it.
void getVertex(int vertex_index, btVector3 &vertex) const
btGImpactMeshShapePart * getMeshPart(int index)
virtual ~btGImpactMeshShapePart()
virtual void processAllTrianglesRay(btTriangleCallback *callback, const btVector3 &rayFrom, const btVector3 &rayTo) const
Function for retrieve triangles.
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
virtual const btPrimitiveManagerBase * getPrimitiveManager() const
Obtains the primitive manager.
btStridingMeshInterface * getMeshInterface()
TrimeshPrimitiveManager * getTrimeshPrimitiveManager()
virtual void getChildAabb(int child_index, const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Retrieves the bound from a child.
virtual void setMargin(btScalar margin)
btAlignedObjectArray< btTransform > m_childTransforms
Base class for gimpact shapes.
This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx &tetrahedron) const
virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx &tetrahedron) const
virtual void postUpdate()
Tells to this object that is needed to refit the box set.
virtual const btPrimitiveManagerBase * getPrimitiveManager() const
Obtains the primitive manager.
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes....
void update()
node manager prototype functions
btStridingMeshInterfaceData m_meshInterface
TrimeshPrimitiveManager m_primitive_manager
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const =0
Subshape member functions.
virtual ~TrimeshPrimitiveManager()
void calc_from_triangle_margin(const CLASS_POINT &V1, const CLASS_POINT &V2, const CLASS_POINT &V3, btScalar margin)
virtual const char * getName() const
virtual void setChildTransform(int index, const btTransform &transform)
Sets the children transform.
virtual void get_primitive_box(int prim_index, btAABB &primbox) const
virtual bool needsRetrieveTriangles() const
Determines if this shape has triangles.
void setPrimitiveManager(btPrimitiveManagerBase *primitive_manager)
virtual void get_primitive_box(int prim_index, btAABB &primbox) const =0
int getNodeCount() const
node count
virtual void setMargin(btScalar margin)=0
Helper class for tetrahedrons.
virtual btCollisionShape * getChildShape(int index)=0
Gets the children.
virtual void get_primitive_box(int prim_index, btAABB &primbox) const
TrimeshPrimitiveManager(const TrimeshPrimitiveManager &manager)
void appy_transform(const btTransform &trans)
Apply a transform to an AABB.
virtual bool childrenHasTransform() const
if true, then its children must get transforms.
virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle &triangle) const
retrieves only the points of the triangle, and the collision margin
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
virtual int getNumChildShapes() const
Gets the number of children.
virtual void getBulletTriangle(int prim_index, btTriangleShapeEx &triangle) const =0
virtual void getChildAabb(int child_index, const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Retrieves the bound from a child.
Trimesh primitive manager.
virtual void rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, btCollisionWorld::RayResultCallback &resultCallback) const
virtual method for ray collision
virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle &triangle) const
retrieves only the points of the triangle, and the collision margin
CompoundPrimitiveManager * getCompoundPrimitiveManager()
Obtains the compopund primitive manager.
btCollisionShapeData m_collisionShapeData
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btVector3 can be used to represent 3D points and vectors.
virtual int getNumSubParts() const =0
getNumSubParts returns the number of seperate subparts each subpart has a continuous array of vertice...
virtual void getBulletTriangle(int prim_index, btTriangleShapeEx &triangle) const
virtual void calcLocalAABB()
use this function for perfofm refit in bounding boxes
virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle &triangle) const =0
retrieves only the points of the triangle, and the collision margin
int size() const
return the number of elements in the array
PHY_ScalarType indicestype
virtual const btPrimitiveManagerBase * getPrimitiveManager() const =0
Obtains the primitive manager.
virtual btCollisionShape * getChildShape(int index)
Gets the children.
virtual btTransform getChildTransform(int index) const =0
Gets the children transform.
virtual const char * getName() const
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx &tetrahedron) const
virtual void setLocalScaling(const btVector3 &scaling)
virtual btTransform getChildTransform(int index) const
Gets the children transform.
virtual int getShapeType() const
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
virtual int getNumChildShapes() const =0
Gets the number of children.
const btVector3 & getScaling() const
virtual btCollisionShape * getChildShape(int index)
Gets the children.
virtual const btCollisionShape * getChildShape(int index) const
Gets the child.
virtual int get_primitive_count() const
const unsigned char * indexbase
virtual void getBulletTriangle(int prim_index, btTriangleShapeEx &triangle) const
virtual void setChildTransform(int index, const btTransform &transform)
Sets the children transform.
void get_vertex(unsigned int vertex_index, btVector3 &vertex) const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
void getPrimitiveTriangle(int index, btPrimitiveTriangle &triangle) const
if this trimesh
bool hasBoxSet() const
Determines if this class has a hierarchy structure for sorting its primitives.
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
Subshape member functions.
virtual const btCollisionShape * getChildShape(int index) const
Gets the children.
btStridingMeshInterface * m_meshInterface
virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int &numverts, PHY_ScalarType &type, int &stride, const unsigned char **indexbase, int &indexstride, int &numfaces, PHY_ScalarType &indicestype, int subpart=0) const =0
virtual void processAllTrianglesRay(btTriangleCallback *, const btVector3 &, const btVector3 &) const
Function for retrieve triangles.
virtual int calculateSerializeBufferSize() const
virtual ~CompoundPrimitiveManager()
const btGImpactMeshShapePart * getMeshPart(int index) const
virtual btCollisionShape * getChildShape(int index)
Gets the children.
virtual void unLockReadOnlyVertexBase(int subpart) const =0
void updateBound()
performs refit operation
virtual bool needsRetrieveTetrahedrons() const
Determines if this shape has tetrahedrons.
int get_vertex_count() const
virtual ~btGImpactCompoundShape()
virtual void unlockChildShapes() const
btAlignedObjectArray< btGImpactMeshShapePart * > m_mesh_parts
btVector3FloatData m_localScaling
Structure for containing Boxes.
btAlignedObjectArray< btCollisionShape * > m_childShapes
virtual const btCollisionShape * getChildShape(int index) const
Gets the child.
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
btGImpactCompoundShape * m_compoundShape
TrimeshPrimitiveManager()
const btStridingMeshInterface * getMeshInterface() const
virtual bool needsRetrieveTriangles() const
Determines if this shape has triangles.
virtual void setChildTransform(int index, const btTransform &transform)
Sets the children transform.
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Function for retrieve triangles.
virtual void setChildTransform(int index, const btTransform &transform)=0
Sets the children transform.
virtual const btPrimitiveManagerBase * getPrimitiveManager() const
Obtains the primitive manager.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once
PHY_ScalarType
PHY_ScalarType enumerates possible scalar types.
btGImpactMeshShape(btStridingMeshInterface *meshInterface)
virtual void lockChildShapes() const
call when reading child shapes
btStridingMeshInterface * m_meshInterface
btGImpactQuantizedBvh btGImpactBoxSet
declare Quantized trees, (you can change to float based trees)
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Calculates the exact inertia tensor for this shape.
void buildSet()
this rebuild the entire set
virtual void setMargin(btScalar margin)