btCollisionShape.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_COLLISION_SHAPE_H
#define BT_COLLISION_SHAPE_H
 
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  //for the shape types
class btSerializer;

ATTRIBUTE_ALIGNED16(class)
btCollisionShape
{
protected:
    int m_shapeType;
    void* m_userPointer;
    int m_userIndex;
 
public:
    BT_DECLARE_ALIGNED_ALLOCATOR();
 
    btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
    {
    }
 
    virtual ~btCollisionShape()
    {
    }

    virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
 
    virtual void getBoundingSphere(btVector3 & center, btScalar & radius) const;

    virtual btScalar getAngularMotionDisc() const;
 
    virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;

    void calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const;
 
    SIMD_FORCE_INLINE bool isPolyhedral() const
    {
        return btBroadphaseProxy::isPolyhedral(getShapeType());
    }
 
    SIMD_FORCE_INLINE bool isConvex2d() const
    {
        return btBroadphaseProxy::isConvex2d(getShapeType());
    }
 
    SIMD_FORCE_INLINE bool isConvex() const
    {
        return btBroadphaseProxy::isConvex(getShapeType());
    }
    SIMD_FORCE_INLINE bool isNonMoving() const
    {
        return btBroadphaseProxy::isNonMoving(getShapeType());
    }
    SIMD_FORCE_INLINE bool isConcave() const
    {
        return btBroadphaseProxy::isConcave(getShapeType());
    }
    SIMD_FORCE_INLINE bool isCompound() const
    {
        return btBroadphaseProxy::isCompound(getShapeType());
    }
 
    SIMD_FORCE_INLINE bool isSoftBody() const
    {
        return btBroadphaseProxy::isSoftBody(getShapeType());
    }

    SIMD_FORCE_INLINE bool isInfinite() const
    {
        return btBroadphaseProxy::isInfinite(getShapeType());
    }
 
#ifndef __SPU__
    virtual void setLocalScaling(const btVector3& scaling) = 0;
    virtual const btVector3& getLocalScaling() const = 0;
    virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const = 0;
 
    //debugging support
    virtual const char* getName() const = 0;
#endif  //__SPU__
 
    int getShapeType() const
    {
        return m_shapeType;
    }

    virtual btVector3 getAnisotropicRollingFrictionDirection() const
    {
        return btVector3(1, 1, 1);
    }
    virtual void setMargin(btScalar margin) = 0;
    virtual btScalar getMargin() const = 0;

    void setUserPointer(void* userPtr)
    {
        m_userPointer = userPtr;
    }
 
    void* getUserPointer() const
    {
        return m_userPointer;
    }
    void setUserIndex(int index)
    {
        m_userIndex = index;
    }
 
    int getUserIndex() const
    {
        return m_userIndex;
    }
 
    virtual int calculateSerializeBufferSize() const;

    virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 
    virtual void serializeSingleShape(btSerializer * serializer) const;
};
 
// clang-format off
// parser needs * with the name
struct  btCollisionShapeData
{
    char    *m_name;
    int     m_shapeType;
    char    m_padding[4];
};
// clang-format on
SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
{
    return sizeof(btCollisionShapeData);
}
 
#endif  //BT_COLLISION_SHAPE_H