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_SCALED_BVH_TRIANGLE_MESH_SHAPE_H 00017 #define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H 00018 00019 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" 00020 00021 00024 ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape 00025 { 00026 00027 00028 btVector3 m_localScaling; 00029 00030 btBvhTriangleMeshShape* m_bvhTriMeshShape; 00031 00032 public: 00033 00034 BT_DECLARE_ALIGNED_ALLOCATOR(); 00035 00036 00037 btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling); 00038 00039 virtual ~btScaledBvhTriangleMeshShape(); 00040 00041 00042 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; 00043 virtual void setLocalScaling(const btVector3& scaling); 00044 virtual const btVector3& getLocalScaling() const; 00045 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; 00046 00047 virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; 00048 00049 btBvhTriangleMeshShape* getChildShape() 00050 { 00051 return m_bvhTriMeshShape; 00052 } 00053 00054 const btBvhTriangleMeshShape* getChildShape() const 00055 { 00056 return m_bvhTriMeshShape; 00057 } 00058 00059 //debugging 00060 virtual const char* getName()const {return "SCALEDBVHTRIANGLEMESH";} 00061 00062 virtual int calculateSerializeBufferSize() const; 00063 00065 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; 00066 00067 }; 00068 00070 struct btScaledTriangleMeshShapeData 00071 { 00072 btTriangleMeshShapeData m_trimeshShapeData; 00073 00074 btVector3FloatData m_localScaling; 00075 }; 00076 00077 00078 SIMD_FORCE_INLINE int btScaledBvhTriangleMeshShape::calculateSerializeBufferSize() const 00079 { 00080 return sizeof(btScaledTriangleMeshShapeData); 00081 } 00082 00083 00085 SIMD_FORCE_INLINE const char* btScaledBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const 00086 { 00087 btScaledTriangleMeshShapeData* scaledMeshData = (btScaledTriangleMeshShapeData*) dataBuffer; 00088 m_bvhTriMeshShape->serialize(&scaledMeshData->m_trimeshShapeData,serializer); 00089 scaledMeshData->m_trimeshShapeData.m_collisionShapeData.m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE; 00090 m_localScaling.serializeFloat(scaledMeshData->m_localScaling); 00091 return "btScaledTriangleMeshShapeData"; 00092 } 00093 00094 00095 #endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H