btCompoundShape.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 COMPOUND_SHAPE_H
#define COMPOUND_SHAPE_H

#include "btCollisionShape.h"

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

//class btOptimizedBvh;
struct btDbvt;

struct btCompoundShapeChild
{
        BT_DECLARE_ALIGNED_ALLOCATOR();

        btTransform                     m_transform;
        btCollisionShape*       m_childShape;
        int                                     m_childShapeType;
        btScalar                        m_childMargin;
        struct btDbvtNode*      m_node;
};

SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
{
        return  ( c1.m_transform      == c2.m_transform &&
                c1.m_childShape     == c2.m_childShape &&
                c1.m_childShapeType == c2.m_childShapeType &&
                c1.m_childMargin    == c2.m_childMargin );
}

class btCompoundShape   : public btCollisionShape
{
        btAlignedObjectArray<btCompoundShapeChild> m_children;
        btVector3                                               m_localAabbMin;
        btVector3                                               m_localAabbMax;

        btDbvt*                                                 m_dynamicAabbTree;

        int                                                             m_updateRevision;

        btScalar        m_collisionMargin;

protected:
        btVector3       m_localScaling;

public:
        BT_DECLARE_ALIGNED_ALLOCATOR();

        btCompoundShape(bool enableDynamicAabbTree = true);

        virtual ~btCompoundShape();

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

        virtual void removeChildShape(btCollisionShape* shape);

        void removeChildShapeByIndex(int childShapeindex);


        int             getNumChildShapes() const
        {
                return int (m_children.size());
        }

        btCollisionShape* getChildShape(int index)
        {
                return m_children[index].m_childShape;
        }
        const btCollisionShape* getChildShape(int index) const
        {
                return m_children[index].m_childShape;
        }

        btTransform&    getChildTransform(int index)
        {
                return m_children[index].m_transform;
        }
        const btTransform&      getChildTransform(int index) const
        {
                return m_children[index].m_transform;
        }

        void    updateChildTransform(int childIndex, const btTransform& newChildTransform);


        btCompoundShapeChild* getChildList()
        {
                return &m_children[0];
        }

        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

        virtual void recalculateLocalAabb(); 

        virtual void    setLocalScaling(const btVector3& scaling);

        virtual const btVector3& getLocalScaling() const 
        {
                return m_localScaling;
        }

        virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;

        virtual void    setMargin(btScalar margin)
        {
                m_collisionMargin = margin;
        }
        virtual btScalar        getMargin() const
        {
                return m_collisionMargin;
        }
        virtual const char*     getName()const
        {
                return "Compound";
        }


        btDbvt*                                                 getDynamicAabbTree()
        {
                return m_dynamicAabbTree;
        }

        void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;

        int     getUpdateRevision() const
        {
                return m_updateRevision;
        }

        virtual int     calculateSerializeBufferSize() const;

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


};

struct btCompoundShapeChildData
{
        btTransformFloatData    m_transform;
        btCollisionShapeData    *m_childShape;
        int                                             m_childShapeType;
        float                                   m_childMargin;
};

struct  btCompoundShapeData
{
        btCollisionShapeData            m_collisionShapeData;

        btCompoundShapeChildData        *m_childShapePtr;

        int                                                     m_numChildShapes;

        float   m_collisionMargin;

};


SIMD_FORCE_INLINE       int     btCompoundShape::calculateSerializeBufferSize() const
{
        return sizeof(btCompoundShapeData);
}







#endif //COMPOUND_SHAPE_H