preparation for compound collision shapes

Bullet/BroadphaseCollision/BroadphaseProxy.h

@@ -43,6 +43,7 @@ CONCAVE_SHAPES_START_HERE,
 	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
 	TRIANGLE_MESH_SHAPE_PROXYTYPE,
 	EMPTY_SHAPE_PROXYTYPE,
+	COMPOUND_SHAPE_PROXYTYPE,
 
 	MAX_BROADPHASE_COLLISION_TYPES
 };

Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp

@@ -0,0 +1,35 @@
+/*
+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 "CollisionDispatch/CompoundCollisionAlgorithm.h"
+
+
+CompoundCollisionAlgorithm::CompoundCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
+{
+}
+
+CompoundCollisionAlgorithm::~CompoundCollisionAlgorithm()
+{
+}
+
+void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
+{
+	
+}
+
+float	CompoundCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
+{
+	return 1.f;
+}

Bullet/CollisionDispatch/CompoundCollisionAlgorithm.h

@@ -0,0 +1,51 @@
+/*
+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.
+*/
+
+#ifndef COMPOUND_COLLISION_ALGORITHM_H
+#define COMPOUND_COLLISION_ALGORITHM_H
+
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+#include "BroadphaseCollision/Dispatcher.h"
+#include "BroadphaseCollision/BroadphaseInterface.h"
+
+#include "NarrowPhaseCollision/PersistentManifold.h"
+class Dispatcher;
+#include "BroadphaseCollision/BroadphaseProxy.h"
+
+
+
+/// CompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
+/// Place holder, not fully implemented yet
+class CompoundCollisionAlgorithm  : public CollisionAlgorithm
+{
+
+	BroadphaseProxy m_compound;
+
+	BroadphaseProxy m_other;
+
+	
+public:
+
+	CompoundCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	virtual ~CompoundCollisionAlgorithm();
+
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
+
+	float	CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
+
+};
+
+#endif //COMPOUND_COLLISION_ALGORITHM_H

Bullet/CollisionShapes/CompoundShape.cpp

@@ -0,0 +1,49 @@
+/*
+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 "CompoundShape.h"
+
+
+#include "CollisionShape.h"
+
+
+CompoundShape::CompoundShape()
+{
+}
+
+
+CompoundShape::~CompoundShape()
+{
+}
+
+
+	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void CompoundShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
+{
+	SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
+
+	aabbMin = t.getOrigin() - margin;
+
+	aabbMax = t.getOrigin() + margin;
+
+}
+
+void	CompoundShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	assert(0);
+}
+
+	
+	

Bullet/CollisionShapes/CompoundShape.h

@@ -0,0 +1,79 @@
+/*
+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.
+*/
+
+#ifndef COMPOUND_SHAPE_H
+#define COMPOUND_SHAPE_H
+
+#include "CollisionShape.h"
+
+#include "SimdVector3.h"
+#include "SimdTransform.h"
+#include "SimdMatrix3x3.h"
+#include <vector>
+#include "CollisionShapes/CollisionMargin.h"
+
+
+
+/// CompoundShape allows to store multiple other CollisionShapes
+/// This allows for concave collision objects. This is more general then the Static Concave TriangleMeshShape.
+class CompoundShape	: public CollisionShape
+{
+public:
+	CompoundShape();
+
+	virtual ~CompoundShape();
+
+
+	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+
+
+	virtual void	setLocalScaling(const SimdVector3& scaling)
+	{
+		m_localScaling = scaling;
+	}
+	virtual const SimdVector3& getLocalScaling() const 
+	{
+		return m_localScaling;
+	}
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+	
+	virtual int	GetShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
+
+	virtual void	SetMargin(float margin)
+	{
+		m_collisionMargin = margin;
+	}
+	virtual float	GetMargin() const
+	{
+		return m_collisionMargin;
+	}
+	virtual char*	GetName()const
+	{
+		return "Compound";
+	}
+
+
+private:
+	SimdScalar	m_collisionMargin;
+protected:
+	SimdVector3	m_localScaling;
+
+};
+
+
+
+#endif //COMPOUND_SHAPE_H