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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.


#include "btCollisionShape.h"

#include "../../LinearMath/btVector3.h"
#include "../../LinearMath/btTransform.h"
#include "../../LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
#include "../../LinearMath/btAlignedObjectArray.h"

class btOptimizedBvh;

/// btCompoundShape allows to store multiple other btCollisionShapes
/// This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape.
00031 class btCompoundShape   : public btCollisionShape
      btAlignedObjectArray<btTransform>         m_childTransforms;
      btAlignedObjectArray<btCollisionShape*>   m_childShapes;
      btVector3                                 m_localAabbMin;
      btVector3                                 m_localAabbMax;

      btOptimizedBvh*                           m_aabbTree;


      virtual ~btCompoundShape();

      void  addChildShape(const btTransform& localTransform,btCollisionShape* shape);

      int         getNumChildShapes() const
            return int (m_childShapes.size());

      btCollisionShape* getChildShape(int index)
            return m_childShapes[index];
      const btCollisionShape* getChildShape(int index) const
            return m_childShapes[index];

      btTransform&      getChildTransform(int index)
            return m_childTransforms[index];
      const btTransform&      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 btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

      virtual void      setLocalScaling(const btVector3& scaling)
            m_localScaling = scaling;
      virtual const btVector3& getLocalScaling() const 
            return m_localScaling;

      virtual void      calculateLocalInertia(btScalar mass,btVector3& inertia);
      virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}

      virtual void      setMargin(btScalar margin)
            m_collisionMargin = margin;
      virtual btScalar  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 btOptimizedBvh*                           getAabbTree() const
            return m_aabbTree;

      btScalar    m_collisionMargin;
      btVector3   m_localScaling;



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