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source: code/branches/SuperOrxoBros_HS18/SuperOrxoBros_HS18/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h @ 12175

Last change on this file since 12175 was 12175, checked in by siramesh, 5 years ago

Super Orxo Bros (Sidharth Ramesh, Nisa Balta, Jeff Ren)

File size: 3.0 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_MULTI_SPHERE_MINKOWSKI_H
17#define BT_MULTI_SPHERE_MINKOWSKI_H
18
19#include "btConvexInternalShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21#include "LinearMath/btAlignedObjectArray.h"
22#include "LinearMath/btAabbUtil2.h"
23
24
25
26///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
27///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
28class btMultiSphereShape : public btConvexInternalAabbCachingShape
29{
30       
31        btAlignedObjectArray<btVector3> m_localPositionArray;
32        btAlignedObjectArray<btScalar>  m_radiArray;
33       
34public:
35        btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
36
37        ///CollisionShape Interface
38        virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
39
40        /// btConvexShape Interface
41        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
42
43        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
44       
45        int     getSphereCount() const
46        {
47                return m_localPositionArray.size();
48        }
49
50        const btVector3&        getSpherePosition(int index) const
51        {
52                return m_localPositionArray[index];
53        }
54
55        btScalar        getSphereRadius(int index) const
56        {
57                return m_radiArray[index];
58        }
59
60
61        virtual const char*     getName()const 
62        {
63                return "MultiSphere";
64        }
65
66        virtual int     calculateSerializeBufferSize() const;
67
68        ///fills the dataBuffer and returns the struct name (and 0 on failure)
69        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
70
71
72};
73
74
75struct  btPositionAndRadius
76{
77        btVector3FloatData      m_pos;
78        float           m_radius;
79};
80
81struct  btMultiSphereShapeData
82{
83        btConvexInternalShapeData       m_convexInternalShapeData;
84
85        btPositionAndRadius     *m_localPositionArrayPtr;
86        int                             m_localPositionArraySize;
87        char    m_padding[4];
88};
89
90
91
92SIMD_FORCE_INLINE       int     btMultiSphereShape::calculateSerializeBufferSize() const
93{
94        return sizeof(btMultiSphereShapeData);
95}
96
97
98
99#endif //BT_MULTI_SPHERE_MINKOWSKI_H
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