forked from bartvdbraak/blender
118 lines
3.1 KiB
C++
118 lines
3.1 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
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 COMPOUND_SHAPE_H
|
|
#define COMPOUND_SHAPE_H
|
|
|
|
#include "CollisionShape.h"
|
|
|
|
#include "SimdVector3.h"
|
|
#include "SimdTransform.h"
|
|
#include "SimdMatrix3x3.h"
|
|
#include <vector>
|
|
#include "CollisionShapes/CollisionMargin.h"
|
|
|
|
class OptimizedBvh;
|
|
|
|
/// CompoundShape allows to store multiple other CollisionShapes
|
|
/// This allows for concave collision objects. This is more general then the Static Concave TriangleMeshShape.
|
|
class CompoundShape : public CollisionShape
|
|
{
|
|
std::vector<SimdTransform> m_childTransforms;
|
|
std::vector<CollisionShape*> m_childShapes;
|
|
SimdVector3 m_localAabbMin;
|
|
SimdVector3 m_localAabbMax;
|
|
|
|
OptimizedBvh* m_aabbTree;
|
|
|
|
public:
|
|
CompoundShape();
|
|
|
|
virtual ~CompoundShape();
|
|
|
|
void AddChildShape(const SimdTransform& localTransform,CollisionShape* shape);
|
|
|
|
int GetNumChildShapes() const
|
|
{
|
|
return m_childShapes.size();
|
|
}
|
|
|
|
CollisionShape* GetChildShape(int index)
|
|
{
|
|
return m_childShapes[index];
|
|
}
|
|
const CollisionShape* GetChildShape(int index) const
|
|
{
|
|
return m_childShapes[index];
|
|
}
|
|
|
|
SimdTransform GetChildTransform(int index)
|
|
{
|
|
return m_childTransforms[index];
|
|
}
|
|
const SimdTransform GetChildTransform(int index) const
|
|
{
|
|
return m_childTransforms[index];
|
|
}
|
|
|
|
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
|
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
|
|
|
|
|
|
virtual void setLocalScaling(const SimdVector3& scaling)
|
|
{
|
|
m_localScaling = scaling;
|
|
}
|
|
virtual const SimdVector3& getLocalScaling() const
|
|
{
|
|
return m_localScaling;
|
|
}
|
|
|
|
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
|
|
|
virtual int GetShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
|
|
|
|
virtual void SetMargin(float margin)
|
|
{
|
|
m_collisionMargin = margin;
|
|
}
|
|
virtual float GetMargin() const
|
|
{
|
|
return m_collisionMargin;
|
|
}
|
|
virtual char* GetName()const
|
|
{
|
|
return "Compound";
|
|
}
|
|
|
|
//this is optional, but should make collision queries faster, by culling non-overlapping nodes
|
|
void CreateAabbTreeFromChildren();
|
|
|
|
const OptimizedBvh* GetAabbTree() const
|
|
{
|
|
return m_aabbTree;
|
|
}
|
|
|
|
private:
|
|
SimdScalar m_collisionMargin;
|
|
protected:
|
|
SimdVector3 m_localScaling;
|
|
|
|
};
|
|
|
|
|
|
|
|
#endif //COMPOUND_SHAPE_H
|