00001 /* 00002 Bullet Continuous Collision Detection and Physics Library 00003 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org 00004 00005 This software is provided 'as-is', without any express or implied warranty. 00006 In no event will the authors be held liable for any damages arising from the use of this software. 00007 Permission is granted to anyone to use this software for any purpose, 00008 including commercial applications, and to alter it and redistribute it freely, 00009 subject to the following restrictions: 00010 00011 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. 00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 00013 3. This notice may not be removed or altered from any source distribution. 00014 */ 00015 00016 #ifndef BT_STATIC_PLANE_SHAPE_H 00017 #define BT_STATIC_PLANE_SHAPE_H 00018 00019 #include "btConcaveShape.h" 00020 00021 00023 ATTRIBUTE_ALIGNED16(class) btStaticPlaneShape : public btConcaveShape 00024 { 00025 protected: 00026 btVector3 m_localAabbMin; 00027 btVector3 m_localAabbMax; 00028 00029 btVector3 m_planeNormal; 00030 btScalar m_planeConstant; 00031 btVector3 m_localScaling; 00032 00033 public: 00034 BT_DECLARE_ALIGNED_ALLOCATOR(); 00035 00036 btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant); 00037 00038 virtual ~btStaticPlaneShape(); 00039 00040 00041 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; 00042 00043 virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; 00044 00045 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; 00046 00047 virtual void setLocalScaling(const btVector3& scaling); 00048 virtual const btVector3& getLocalScaling() const; 00049 00050 const btVector3& getPlaneNormal() const 00051 { 00052 return m_planeNormal; 00053 } 00054 00055 const btScalar& getPlaneConstant() const 00056 { 00057 return m_planeConstant; 00058 } 00059 00060 //debugging 00061 virtual const char* getName()const {return "STATICPLANE";} 00062 00063 virtual int calculateSerializeBufferSize() const; 00064 00066 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; 00067 00068 00069 }; 00070 00072 struct btStaticPlaneShapeData 00073 { 00074 btCollisionShapeData m_collisionShapeData; 00075 00076 btVector3FloatData m_localScaling; 00077 btVector3FloatData m_planeNormal; 00078 float m_planeConstant; 00079 char m_pad[4]; 00080 }; 00081 00082 00083 SIMD_FORCE_INLINE int btStaticPlaneShape::calculateSerializeBufferSize() const 00084 { 00085 return sizeof(btStaticPlaneShapeData); 00086 } 00087 00089 SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const 00090 { 00091 btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) dataBuffer; 00092 btCollisionShape::serialize(&planeData->m_collisionShapeData,serializer); 00093 00094 m_localScaling.serializeFloat(planeData->m_localScaling); 00095 m_planeNormal.serializeFloat(planeData->m_planeNormal); 00096 planeData->m_planeConstant = float(m_planeConstant); 00097 00098 return "btStaticPlaneShapeData"; 00099 } 00100 00101 00102 #endif //BT_STATIC_PLANE_SHAPE_H 00103 00104 00105