btCollision.h

Engine/source/T3D/physics/bullet/btCollision.h
Classes:

class
Detailed Description

  1
  2//-----------------------------------------------------------------------------
  3// Copyright (c) 2012 GarageGames, LLC
  4//
  5// Permission is hereby granted, free of charge, to any person obtaining a copy
  6// of this software and associated documentation files (the "Software"), to
  7// deal in the Software without restriction, including without limitation the
  8// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
  9// sell copies of the Software, and to permit persons to whom the Software is
 10// furnished to do so, subject to the following conditions:
 11//
 12// The above copyright notice and this permission notice shall be included in
 13// all copies or substantial portions of the Software.
 14//
 15// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 16// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 17// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 18// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 19// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 20// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 21// IN THE SOFTWARE.
 22//-----------------------------------------------------------------------------
 23
 24#ifndef _T3D_PHYSICS_BTCOLLISION_H_
 25#define _T3D_PHYSICS_BTCOLLISION_H_
 26
 27#ifndef _T3D_PHYSICS_PHYSICSCOLLISION_H_
 28#include "T3D/physics/physicsCollision.h"
 29#endif
 30#ifndef _MMATRIX_H_
 31#include "math/mMatrix.h"
 32#endif
 33#ifndef _TVECTOR_H_
 34#include "core/util/tVector.h"
 35#endif
 36
 37class btCollisionShape;
 38class btCompoundShape;
 39class btTriangleMesh;
 40
 41
 42class BtCollision : public PhysicsCollision
 43{
 44protected:
 45
 46   /// The compound if we have more than one collision shape.
 47   btCompoundShape *mCompound;
 48
 49   /// The concrete collision shapes.
 50   Vector<btCollisionShape*> mShapes;
 51
 52   /// The local transform for the collision shape
 53   /// or identity if this is a compound.
 54   MatrixF mLocalXfm;
 55
 56   /// If we have any triangle mesh collision shapes then
 57   /// we need to store the mesh data.
 58   Vector<btTriangleMesh*> mMeshInterfaces;
 59
 60   /// Helper for adding shapes.
 61   void _addShape( btCollisionShape *shape, const MatrixF &localXfm );
 62
 63public:
 64
 65   BtCollision();
 66   virtual ~BtCollision();
 67
 68   /// Return the Bullet collision shape.
 69   btCollisionShape* getShape();
 70
 71   // The local transform used to offset the collsion
 72   // to its correct graphics position.
 73   const MatrixF& getLocalTransform() const { return mLocalXfm; }
 74
 75   // PhysicsCollision
 76   virtual void addPlane( const PlaneF &plane );
 77   virtual void addBox( const Point3F &halfWidth,
 78                        const MatrixF &localXfm );
 79   virtual void addSphere( F32 radius,
 80                           const MatrixF &localXfm );
 81   virtual void addCapsule(   F32 radius,
 82                              F32 height,
 83                              const MatrixF &localXfm );
 84   virtual bool addConvex( const Point3F *points, 
 85                           U32 count,
 86                           const MatrixF &localXfm );
 87   virtual bool addTriangleMesh( const Point3F *vert,
 88                                 U32 vertCount,
 89                                 const U32 *index,
 90                                 U32 triCount,
 91                                 const MatrixF &localXfm );
 92   virtual bool addHeightfield(  const U16 *heights,
 93                                 const bool *holes,
 94                                 U32 blockSize,
 95                                 F32 metersPerSample,
 96                                 const MatrixF &localXfm );
 97};
 98
 99#endif // _T3D_PHYSICS_BTCOLLISION_H_
100