btConvexInternalShape.h

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/*
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 BT_CONVEX_INTERNAL_SHAPE_H
#define BT_CONVEX_INTERNAL_SHAPE_H

#include "btConvexShape.h"
#include "LinearMath/btAabbUtil2.h"


ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape
{

        protected:

        //local scaling. collisionMargin is not scaled !
        btVector3       m_localScaling;

        btVector3       m_implicitShapeDimensions;
        
        btScalar        m_collisionMargin;

        btScalar        m_padding;

        btConvexInternalShape();

public:

        BT_DECLARE_ALIGNED_ALLOCATOR();

        virtual ~btConvexInternalShape()
        {

        }

        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;

        const btVector3& getImplicitShapeDimensions() const
        {
                return m_implicitShapeDimensions;
        }

        void    setImplicitShapeDimensions(const btVector3& dimensions)
        {
                m_implicitShapeDimensions = dimensions;
        }

        void    setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
        {
                btScalar safeMargin = defaultMarginMultiplier*minDimension;
                if (safeMargin < getMargin())
                {
                        setMargin(safeMargin);
                }
        }
        void    setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
        {
                //see http://code.google.com/p/bullet/issues/detail?id=349
                //this margin check could could be added to other collision shapes too,
                //or add some assert/warning somewhere
                btScalar minDimension=halfExtents[halfExtents.minAxis()];               
                setSafeMargin(minDimension, defaultMarginMultiplier);
        }

        void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
        {
                getAabbSlow(t,aabbMin,aabbMax);
        }


        
        virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;


        virtual void    setLocalScaling(const btVector3& scaling);
        virtual const btVector3& getLocalScaling() const 
        {
                return m_localScaling;
        }

        const btVector3& getLocalScalingNV() const 
        {
                return m_localScaling;
        }

        virtual void    setMargin(btScalar margin)
        {
                m_collisionMargin = margin;
        }
        virtual btScalar        getMargin() const
        {
                return m_collisionMargin;
        }

        btScalar        getMarginNV() const
        {
                return m_collisionMargin;
        }

        virtual int             getNumPreferredPenetrationDirections() const
        {
                return 0;
        }
        
        virtual void    getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
        {
                (void)penetrationVector;
                (void)index;
                btAssert(0);
        }

        virtual int     calculateSerializeBufferSize() const;

        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;

        
};

struct  btConvexInternalShapeData
{
        btCollisionShapeData    m_collisionShapeData;

        btVector3FloatData      m_localScaling;

        btVector3FloatData      m_implicitShapeDimensions;
        
        float                   m_collisionMargin;

        int     m_padding;

};



SIMD_FORCE_INLINE       int     btConvexInternalShape::calculateSerializeBufferSize() const
{
        return sizeof(btConvexInternalShapeData);
}

SIMD_FORCE_INLINE       const char*     btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
        btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
        btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);

        m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
        m_localScaling.serializeFloat(shapeData->m_localScaling);
        shapeData->m_collisionMargin = float(m_collisionMargin);

        return "btConvexInternalShapeData";
}




class btConvexInternalAabbCachingShape : public btConvexInternalShape
{
        btVector3       m_localAabbMin;
        btVector3       m_localAabbMax;
        bool            m_isLocalAabbValid;
        
protected:
                                        
        btConvexInternalAabbCachingShape();
        
        void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
        {
                m_isLocalAabbValid = true;
                m_localAabbMin = aabbMin;
                m_localAabbMax = aabbMax;
        }

        inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
        {
                btAssert(m_isLocalAabbValid);
                aabbMin = m_localAabbMin;
                aabbMax = m_localAabbMax;
        }

        inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
        {

                //lazy evaluation of local aabb
                btAssert(m_isLocalAabbValid);
                btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
        }
                
public:
                
        virtual void    setLocalScaling(const btVector3& scaling);

        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

        void    recalcLocalAabb();

};

#endif //BT_CONVEX_INTERNAL_SHAPE_H