Changeset 2430 for code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btCompoundShape.h

Timestamp:

Dec 13, 2008, 11:45:51 PM (17 years ago)

Author:

rgrieder

Message:

Updated to Bullet 2.73 (first part).

File:

• code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btCompoundShape.h (modified) (3 diffs)

code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btCompoundShape.h

@@ -47 +47 @@
 }
 
-/// btCompoundShape allows to store multiple other btCollisionShapes
+/// The btCompoundShape allows to store multiple other btCollisionShapes
 /// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
+/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. 
+/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
+/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
 ATTRIBUTE_ALIGNED16(class) btCompoundShape      : public btCollisionShape
 {
-        //btAlignedObjectArray<btTransform>             m_childTransforms;
-        //btAlignedObjectArray<btCollisionShape*>       m_childShapes;
         btAlignedObjectArray<btCompoundShapeChild> m_children;
         btVector3                                               m_localAabbMin;
         btVector3                                               m_localAabbMax;
 
-        //btOptimizedBvh*                                       m_aabbTree;
         btDbvt*                                                 m_dynamicAabbTree;
 
@@ -63 +63 @@
         BT_DECLARE_ALIGNED_ALLOCATOR();
 
-        btCompoundShape();
+        btCompoundShape(bool enableDynamicAabbTree = true);
 
         virtual ~btCompoundShape();
@@ -89 +89 @@
         }
 
-        btTransform     getChildTransform(int index)
+        btTransform&    getChildTransform(int index)
         {
                 return m_children[index].m_transform;
         }
-        const btTransform       getChildTransform(int index) const
+        const btTransform&      getChildTransform(int index) const
         {
                 return m_children[index].m_transform;
         }
+
+        ///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
+        void    updateChildTransform(int childIndex, const btTransform& newChildTransform);