btBvhTriangleMeshShape.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 BT_BVH_TRIANGLE_MESH_SHAPE_H
#define BT_BVH_TRIANGLE_MESH_SHAPE_H
 
#include "btTriangleMeshShape.h"
#include "btOptimizedBvh.h"
#include "LinearMath/btAlignedAllocator.h"
#include "btTriangleInfoMap.h"
 
ATTRIBUTE_ALIGNED16(class)
btBvhTriangleMeshShape : public btTriangleMeshShape
{
    btOptimizedBvh* m_bvh;
    btTriangleInfoMap* m_triangleInfoMap;
 
    bool m_useQuantizedAabbCompression;
    bool m_ownsBvh;
#ifdef __clang__
    bool m_pad[11] __attribute__((unused));  
#else
    bool m_pad[11];  
#endif
 
public:
    BT_DECLARE_ALIGNED_ALLOCATOR();
 
    btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
 
    btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, bool buildBvh = true);
 
    virtual ~btBvhTriangleMeshShape();
 
    bool getOwnsBvh() const
    {
        return m_ownsBvh;
    }
 
    void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget);
    void performConvexcast(btTriangleCallback * callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
 
    virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
    void refitTree(const btVector3& aabbMin, const btVector3& aabbMax);
 
    void partialRefitTree(const btVector3& aabbMin, const btVector3& aabbMax);
 
    //debugging
    virtual const char* getName() const { return "BVHTRIANGLEMESH"; }
 
    virtual void setLocalScaling(const btVector3& scaling);
 
    btOptimizedBvh* getOptimizedBvh()
    {
        return m_bvh;
    }
 
    void setOptimizedBvh(btOptimizedBvh * bvh, const btVector3& localScaling = btVector3(1, 1, 1));
 
    void buildOptimizedBvh();
 
    bool usesQuantizedAabbCompression() const
    {
        return m_useQuantizedAabbCompression;
    }
 
    void setTriangleInfoMap(btTriangleInfoMap * triangleInfoMap)
    {
        m_triangleInfoMap = triangleInfoMap;
    }
 
    const btTriangleInfoMap* getTriangleInfoMap() const
    {
        return m_triangleInfoMap;
    }
 
    btTriangleInfoMap* getTriangleInfoMap()
    {
        return m_triangleInfoMap;
    }
 
    virtual int calculateSerializeBufferSize() const;
 
    virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 
    virtual void serializeSingleBvh(btSerializer * serializer) const;
 
    virtual void serializeSingleTriangleInfoMap(btSerializer * serializer) const;
};
 
// clang-format off
 
struct  btTriangleMeshShapeData
{
    btCollisionShapeData    m_collisionShapeData;
 
    btStridingMeshInterfaceData m_meshInterface;
 
    btQuantizedBvhFloatData     *m_quantizedFloatBvh;
    btQuantizedBvhDoubleData    *m_quantizedDoubleBvh;
 
    btTriangleInfoMapData   *m_triangleInfoMap;
    
    float   m_collisionMargin;
 
    char m_pad3[4];
    
};
 
// clang-format on
 
SIMD_FORCE_INLINE int btBvhTriangleMeshShape::calculateSerializeBufferSize() const
{
    return sizeof(btTriangleMeshShapeData);
}
 
#endif  //BT_BVH_TRIANGLE_MESH_SHAPE_H