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Added better support for btUniformScalingShape, by moving some data that is not shared from btConvexShape to btConvexInternalShape. This reduces the sizeof btUniformScalingShape to 16 bytes (from 64).

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This is good when having lots of re-used shapes with different sizes.

Convex shapes will need to derive from btConvexInternalShape (which is a subclass of btConvexShape). We could have renamed btConvexShape to 'btConvexShapeInterface' (can still do that later)
This commit is contained in:
ejcoumans
2007-07-28 21:10:21 +00:00
parent 177b6f5ce2
commit 38b7f474c3
14 changed files with 294 additions and 146 deletions
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81
src/BulletCollision/CollisionShapes/btConvexShape.h
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@@ -28,27 +28,13 @@ struct btConvexCastResult;
#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
/// btConvexShape is an abstract shape interface.
/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
/// It describes general convex shapes using the localGetSupportingVertex interface
/// used in combination with GJK or btConvexCast
ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
{
protected:
//local scaling. collisionMargin is not scaled !
btVector3 m_localScaling;
btVector3 m_implicitShapeDimensions;
btScalar m_collisionMargin;
btScalar m_padding[2];
public:
btConvexShape();
virtual ~btConvexShape()
{
@@ -56,7 +42,7 @@ public:
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const =0;
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
@@ -64,63 +50,24 @@ public:
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
#endif //#ifndef __SPU__
const btVector3& getImplicitShapeDimensions() const
{
return m_implicitShapeDimensions;
}
///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
{
getAabbSlow(t,aabbMin,aabbMax);
}
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void setLocalScaling(const btVector3& scaling) =0;
virtual const btVector3& getLocalScaling() const =0;
virtual void setMargin(btScalar margin)=0;
virtual btScalar getMargin() const=0;
virtual int getNumPreferredPenetrationDirections() const=0;
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
const btVector3& getLocalScalingNV() const
{
return m_localScaling;
}
virtual void setMargin(btScalar margin)
{
m_collisionMargin = margin;
}
virtual btScalar getMargin() const
{
return m_collisionMargin;
}
btScalar getMarginNV() const
{
return m_collisionMargin;
}
virtual int getNumPreferredPenetrationDirections() const
{
return 0;
}
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
(void)penetrationVector;
(void)index;
btAssert(0);
}
}
;
};