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 COLLISION_SHAPE_H
#define 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;


class btCollisionShape
{
protected:
        int m_shapeType;
        void* m_userPointer;

public:

        btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
        {
        }

        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  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 void    setMargin(btScalar margin) = 0;
        virtual btScalar        getMargin() const = 0;

        
        void    setUserPointer(void*  userPtr)
        {
                m_userPointer = userPtr;
        }

        void*   getUserPointer() const
        {
                return m_userPointer;
        }

        virtual int     calculateSerializeBufferSize() const;

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

        virtual void    serializeSingleShape(btSerializer* serializer) const;

};      

struct  btCollisionShapeData
{
        char    *m_name;
        int             m_shapeType;
        char    m_padding[4];
};

SIMD_FORCE_INLINE       int     btCollisionShape::calculateSerializeBufferSize() const
{
        return sizeof(btCollisionShapeData);
}



#endif //COLLISION_SHAPE_H

---

bullet
Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Fri Jan 11 10:10:12 2013