btGImpactShape.h

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/*
This source file is part of GIMPACT Library.
 
For the latest info, see http://gimpact.sourceforge.net/
 
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
 
 
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 GIMPACT_SHAPE_H
#define GIMPACT_SHAPE_H
 
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAlignedObjectArray.h"
 
#include "btGImpactQuantizedBvh.h"  // box tree class
 
typedef btGImpactQuantizedBvh btGImpactBoxSet;
 
enum eGIMPACT_SHAPE_TYPE
{
    CONST_GIMPACT_COMPOUND_SHAPE = 0,
    CONST_GIMPACT_TRIMESH_SHAPE_PART,
    CONST_GIMPACT_TRIMESH_SHAPE
};
 
class btTetrahedronShapeEx : public btBU_Simplex1to4
{
public:
    btTetrahedronShapeEx()
    {
        m_numVertices = 4;
    }
 
    SIMD_FORCE_INLINE void setVertices(
        const btVector3& v0, const btVector3& v1,
        const btVector3& v2, const btVector3& v3)
    {
        m_vertices[0] = v0;
        m_vertices[1] = v1;
        m_vertices[2] = v2;
        m_vertices[3] = v3;
        recalcLocalAabb();
    }
};
 
class btGImpactShapeInterface : public btConcaveShape
{
protected:
    btAABB m_localAABB;
    bool m_needs_update;
    btVector3 localScaling;
    btGImpactBoxSet m_box_set;  // optionally boxset
 
    virtual void calcLocalAABB()
    {
        lockChildShapes();
        if (m_box_set.getNodeCount() == 0)
        {
            m_box_set.buildSet();
        }
        else
        {
            m_box_set.update();
        }
        unlockChildShapes();
 
        m_localAABB = m_box_set.getGlobalBox();
    }
 
public:
    btGImpactShapeInterface()
    {
        m_shapeType = GIMPACT_SHAPE_PROXYTYPE;
        m_localAABB.invalidate();
        m_needs_update = true;
        localScaling.setValue(1.f, 1.f, 1.f);
    }
 
 
    SIMD_FORCE_INLINE void updateBound()
    {
        if (!m_needs_update) return;
        calcLocalAABB();
        m_needs_update = false;
    }
 
 
    void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
    {
        btAABB transformedbox = m_localAABB;
        transformedbox.appy_transform(t);
        aabbMin = transformedbox.m_min;
        aabbMax = transformedbox.m_max;
    }
 
    virtual void postUpdate()
    {
        m_needs_update = true;
    }
 
    SIMD_FORCE_INLINE const btAABB& getLocalBox()
    {
        return m_localAABB;
    }
 
    virtual int getShapeType() const
    {
        return GIMPACT_SHAPE_PROXYTYPE;
    }
 
    virtual void setLocalScaling(const btVector3& scaling)
    {
        localScaling = scaling;
        postUpdate();
    }
 
    virtual const btVector3& getLocalScaling() const
    {
        return localScaling;
    }
 
    virtual void setMargin(btScalar margin)
    {
        m_collisionMargin = margin;
        int i = getNumChildShapes();
        while (i--)
        {
            btCollisionShape* child = getChildShape(i);
            child->setMargin(margin);
        }
 
        m_needs_update = true;
    }
 
 
    virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0;
 
    SIMD_FORCE_INLINE const btGImpactBoxSet* getBoxSet() const
    {
        return &m_box_set;
    }
 
    SIMD_FORCE_INLINE bool hasBoxSet() const
    {
        if (m_box_set.getNodeCount() == 0) return false;
        return true;
    }
 
    virtual const btPrimitiveManagerBase* getPrimitiveManager() const = 0;
 
    virtual int getNumChildShapes() const = 0;
 
    virtual bool childrenHasTransform() const = 0;
 
    virtual bool needsRetrieveTriangles() const = 0;
 
    virtual bool needsRetrieveTetrahedrons() const = 0;
 
    virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const = 0;
 
    virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const = 0;
 
    virtual void lockChildShapes() const
    {
    }
 
    virtual void unlockChildShapes() const
    {
    }
 
    SIMD_FORCE_INLINE void getPrimitiveTriangle(int index, btPrimitiveTriangle& triangle) const
    {
        getPrimitiveManager()->get_primitive_triangle(index, triangle);
    }
 
 
    virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
    {
        btAABB child_aabb;
        getPrimitiveManager()->get_primitive_box(child_index, child_aabb);
        child_aabb.appy_transform(t);
        aabbMin = child_aabb.m_min;
        aabbMax = child_aabb.m_max;
    }
 
    virtual btCollisionShape* getChildShape(int index) = 0;
 
    virtual const btCollisionShape* getChildShape(int index) const = 0;
 
    virtual btTransform getChildTransform(int index) const = 0;
 
 
    virtual void setChildTransform(int index, const btTransform& transform) = 0;
 
 
    virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
    {
        (void)rayFrom;
        (void)rayTo;
        (void)resultCallback;
    }
 
 
    virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
    {
        (void)callback;
        (void)aabbMin;
        (void)aabbMax;
    }
 
 
    virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/, const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const
    {
    }
 
};
 
 
class btGImpactCompoundShape : public btGImpactShapeInterface
{
public:
    class CompoundPrimitiveManager : public btPrimitiveManagerBase
    {
    public:
        virtual ~CompoundPrimitiveManager() {}
        btGImpactCompoundShape* m_compoundShape;
 
        CompoundPrimitiveManager(const CompoundPrimitiveManager& compound)
            : btPrimitiveManagerBase()
        {
            m_compoundShape = compound.m_compoundShape;
        }
 
        CompoundPrimitiveManager(btGImpactCompoundShape* compoundShape)
        {
            m_compoundShape = compoundShape;
        }
 
        CompoundPrimitiveManager()
        {
            m_compoundShape = NULL;
        }
 
        virtual bool is_trimesh() const
        {
            return false;
        }
 
        virtual int get_primitive_count() const
        {
            return (int)m_compoundShape->getNumChildShapes();
        }
 
        virtual void get_primitive_box(int prim_index, btAABB& primbox) const
        {
            btTransform prim_trans;
            if (m_compoundShape->childrenHasTransform())
            {
                prim_trans = m_compoundShape->getChildTransform(prim_index);
            }
            else
            {
                prim_trans.setIdentity();
            }
            const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index);
            shape->getAabb(prim_trans, primbox.m_min, primbox.m_max);
        }
 
        virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
        {
            btAssert(0);
            (void)prim_index;
            (void)triangle;
        }
    };
 
protected:
    CompoundPrimitiveManager m_primitive_manager;
    btAlignedObjectArray<btTransform> m_childTransforms;
    btAlignedObjectArray<btCollisionShape*> m_childShapes;
 
public:
    btGImpactCompoundShape(bool children_has_transform = true)
    {
        (void)children_has_transform;
        m_primitive_manager.m_compoundShape = this;
        m_box_set.setPrimitiveManager(&m_primitive_manager);
    }
 
    virtual ~btGImpactCompoundShape()
    {
    }
 
    virtual bool childrenHasTransform() const
    {
        if (m_childTransforms.size() == 0) return false;
        return true;
    }
 
    virtual const btPrimitiveManagerBase* getPrimitiveManager() const
    {
        return &m_primitive_manager;
    }
 
    SIMD_FORCE_INLINE CompoundPrimitiveManager* getCompoundPrimitiveManager()
    {
        return &m_primitive_manager;
    }
 
    virtual int getNumChildShapes() const
    {
        return m_childShapes.size();
    }
 
    void addChildShape(const btTransform& localTransform, btCollisionShape* shape)
    {
        btAssert(shape->isConvex());
        m_childTransforms.push_back(localTransform);
        m_childShapes.push_back(shape);
    }
 
    void addChildShape(btCollisionShape* shape)
    {
        btAssert(shape->isConvex());
        m_childShapes.push_back(shape);
    }
 
    virtual btCollisionShape* getChildShape(int index)
    {
        return m_childShapes[index];
    }
 
    virtual const btCollisionShape* getChildShape(int index) const
    {
        return m_childShapes[index];
    }
 
 
    virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
    {
        if (childrenHasTransform())
        {
            m_childShapes[child_index]->getAabb(t * m_childTransforms[child_index], aabbMin, aabbMax);
        }
        else
        {
            m_childShapes[child_index]->getAabb(t, aabbMin, aabbMax);
        }
    }
 
    virtual btTransform getChildTransform(int index) const
    {
        btAssert(m_childTransforms.size() == m_childShapes.size());
        return m_childTransforms[index];
    }
 
 
    virtual void setChildTransform(int index, const btTransform& transform)
    {
        btAssert(m_childTransforms.size() == m_childShapes.size());
        m_childTransforms[index] = transform;
        postUpdate();
    }
 
    virtual bool needsRetrieveTriangles() const
    {
        return false;
    }
 
    virtual bool needsRetrieveTetrahedrons() const
    {
        return false;
    }
 
    virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
    {
        (void)prim_index;
        (void)triangle;
        btAssert(0);
    }
 
    virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
    {
        (void)prim_index;
        (void)tetrahedron;
        btAssert(0);
    }
 
    virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
 
    virtual const char* getName() const
    {
        return "GImpactCompound";
    }
 
    virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
    {
        return CONST_GIMPACT_COMPOUND_SHAPE;
    }
};
 
 
class btGImpactMeshShapePart : public btGImpactShapeInterface
{
public:
 
    class TrimeshPrimitiveManager : public btPrimitiveManagerBase
    {
    public:
        btScalar m_margin;
        btStridingMeshInterface* m_meshInterface;
        btVector3 m_scale;
        int m_part;
        int m_lock_count;
        const unsigned char* vertexbase;
        int numverts;
        PHY_ScalarType type;
        int stride;
        const unsigned char* indexbase;
        int indexstride;
        int numfaces;
        PHY_ScalarType indicestype;
 
        TrimeshPrimitiveManager()
        {
            m_meshInterface = NULL;
            m_part = 0;
            m_margin = 0.01f;
            m_scale = btVector3(1.f, 1.f, 1.f);
            m_lock_count = 0;
            vertexbase = 0;
            numverts = 0;
            stride = 0;
            indexbase = 0;
            indexstride = 0;
            numfaces = 0;
        }
 
        TrimeshPrimitiveManager(const TrimeshPrimitiveManager& manager)
            : btPrimitiveManagerBase()
        {
            m_meshInterface = manager.m_meshInterface;
            m_part = manager.m_part;
            m_margin = manager.m_margin;
            m_scale = manager.m_scale;
            m_lock_count = 0;
            vertexbase = 0;
            numverts = 0;
            stride = 0;
            indexbase = 0;
            indexstride = 0;
            numfaces = 0;
        }
 
        TrimeshPrimitiveManager(
            btStridingMeshInterface* meshInterface, int part)
        {
            m_meshInterface = meshInterface;
            m_part = part;
            m_scale = m_meshInterface->getScaling();
            m_margin = 0.1f;
            m_lock_count = 0;
            vertexbase = 0;
            numverts = 0;
            stride = 0;
            indexbase = 0;
            indexstride = 0;
            numfaces = 0;
        }
 
        virtual ~TrimeshPrimitiveManager() {}
 
        void lock()
        {
            if (m_lock_count > 0)
            {
                m_lock_count++;
                return;
            }
            m_meshInterface->getLockedReadOnlyVertexIndexBase(
                &vertexbase, numverts,
                type, stride, &indexbase, indexstride, numfaces, indicestype, m_part);
 
            m_lock_count = 1;
        }
 
        void unlock()
        {
            if (m_lock_count == 0) return;
            if (m_lock_count > 1)
            {
                --m_lock_count;
                return;
            }
            m_meshInterface->unLockReadOnlyVertexBase(m_part);
            vertexbase = NULL;
            m_lock_count = 0;
        }
 
        virtual bool is_trimesh() const
        {
            return true;
        }
 
        virtual int get_primitive_count() const
        {
            return (int)numfaces;
        }
 
        SIMD_FORCE_INLINE int get_vertex_count() const
        {
            return (int)numverts;
        }
 
        SIMD_FORCE_INLINE void get_indices(int face_index, unsigned int& i0, unsigned int& i1, unsigned int& i2) const
        {
            if (indicestype == PHY_SHORT)
            {
                unsigned short* s_indices = (unsigned short*)(indexbase + face_index * indexstride);
                i0 = s_indices[0];
                i1 = s_indices[1];
                i2 = s_indices[2];
            }
            else if (indicestype == PHY_INTEGER)
            {
                unsigned int* i_indices = (unsigned int*)(indexbase + face_index * indexstride);
                i0 = i_indices[0];
                i1 = i_indices[1];
                i2 = i_indices[2];
            }
            else
            {
                btAssert(indicestype == PHY_UCHAR);
                unsigned char* i_indices = (unsigned char*)(indexbase + face_index * indexstride);
                i0 = i_indices[0];
                i1 = i_indices[1];
                i2 = i_indices[2];
            }
        }
 
        SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3& vertex) const
        {
            if (type == PHY_DOUBLE)
            {
                double* dvertices = (double*)(vertexbase + vertex_index * stride);
                vertex[0] = btScalar(dvertices[0] * m_scale[0]);
                vertex[1] = btScalar(dvertices[1] * m_scale[1]);
                vertex[2] = btScalar(dvertices[2] * m_scale[2]);
            }
            else
            {
                float* svertices = (float*)(vertexbase + vertex_index * stride);
                vertex[0] = svertices[0] * m_scale[0];
                vertex[1] = svertices[1] * m_scale[1];
                vertex[2] = svertices[2] * m_scale[2];
            }
        }
 
        virtual void get_primitive_box(int prim_index, btAABB& primbox) const
        {
            btPrimitiveTriangle triangle;
            get_primitive_triangle(prim_index, triangle);
            primbox.calc_from_triangle_margin(
                triangle.m_vertices[0],
                triangle.m_vertices[1], triangle.m_vertices[2], triangle.m_margin);
        }
 
        virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const
        {
            unsigned int indices[3];
            get_indices(prim_index, indices[0], indices[1], indices[2]);
            get_vertex(indices[0], triangle.m_vertices[0]);
            get_vertex(indices[1], triangle.m_vertices[1]);
            get_vertex(indices[2], triangle.m_vertices[2]);
            triangle.m_margin = m_margin;
        }
 
        SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index, btTriangleShapeEx& triangle) const
        {
            unsigned int indices[3];
            get_indices(prim_index, indices[0], indices[1], indices[2]);
            get_vertex(indices[0], triangle.m_vertices1[0]);
            get_vertex(indices[1], triangle.m_vertices1[1]);
            get_vertex(indices[2], triangle.m_vertices1[2]);
            triangle.setMargin(m_margin);
        }
    };
 
protected:
    TrimeshPrimitiveManager m_primitive_manager;
 
public:
    btGImpactMeshShapePart()
    {
        m_box_set.setPrimitiveManager(&m_primitive_manager);
    }
 
    btGImpactMeshShapePart(btStridingMeshInterface* meshInterface, int part);
    virtual ~btGImpactMeshShapePart();
 
    virtual bool childrenHasTransform() const
    {
        return false;
    }
 
    virtual void lockChildShapes() const;
    virtual void unlockChildShapes() const;
 
    virtual int getNumChildShapes() const
    {
        return m_primitive_manager.get_primitive_count();
    }
 
    virtual btCollisionShape* getChildShape(int index)
    {
        (void)index;
        btAssert(0);
        return NULL;
    }
 
    virtual const btCollisionShape* getChildShape(int index) const
    {
        (void)index;
        btAssert(0);
        return NULL;
    }
 
    virtual btTransform getChildTransform(int index) const
    {
        (void)index;
        btAssert(0);
        return btTransform();
    }
 
 
    virtual void setChildTransform(int index, const btTransform& transform)
    {
        (void)index;
        (void)transform;
        btAssert(0);
    }
 
    virtual const btPrimitiveManagerBase* getPrimitiveManager() const
    {
        return &m_primitive_manager;
    }
 
    SIMD_FORCE_INLINE TrimeshPrimitiveManager* getTrimeshPrimitiveManager()
    {
        return &m_primitive_manager;
    }
 
    virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
 
    virtual const char* getName() const
    {
        return "GImpactMeshShapePart";
    }
 
    virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
    {
        return CONST_GIMPACT_TRIMESH_SHAPE_PART;
    }
 
    virtual bool needsRetrieveTriangles() const
    {
        return true;
    }
 
    virtual bool needsRetrieveTetrahedrons() const
    {
        return false;
    }
 
    virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
    {
        m_primitive_manager.get_bullet_triangle(prim_index, triangle);
    }
 
    virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
    {
        (void)prim_index;
        (void)tetrahedron;
        btAssert(0);
    }
 
    SIMD_FORCE_INLINE int getVertexCount() const
    {
        return m_primitive_manager.get_vertex_count();
    }
 
    SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3& vertex) const
    {
        m_primitive_manager.get_vertex(vertex_index, vertex);
    }
 
    SIMD_FORCE_INLINE void setMargin(btScalar margin)
    {
        m_primitive_manager.m_margin = margin;
        postUpdate();
    }
 
    SIMD_FORCE_INLINE btScalar getMargin() const
    {
        return m_primitive_manager.m_margin;
    }
 
    virtual void setLocalScaling(const btVector3& scaling)
    {
        m_primitive_manager.m_scale = scaling;
        postUpdate();
    }
 
    virtual const btVector3& getLocalScaling() const
    {
        return m_primitive_manager.m_scale;
    }
 
    SIMD_FORCE_INLINE int getPart() const
    {
        return (int)m_primitive_manager.m_part;
    }
 
    virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
    virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;
};
 
 
class btGImpactMeshShape : public btGImpactShapeInterface
{
    btStridingMeshInterface* m_meshInterface;
 
protected:
    btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts;
    void buildMeshParts(btStridingMeshInterface* meshInterface)
    {
        for (int i = 0; i < meshInterface->getNumSubParts(); ++i)
        {
            btGImpactMeshShapePart* newpart = new btGImpactMeshShapePart(meshInterface, i);
            m_mesh_parts.push_back(newpart);
        }
    }
 
    virtual void calcLocalAABB()
    {
        m_localAABB.invalidate();
        int i = m_mesh_parts.size();
        while (i--)
        {
            m_mesh_parts[i]->updateBound();
            m_localAABB.merge(m_mesh_parts[i]->getLocalBox());
        }
    }
 
public:
    btGImpactMeshShape(btStridingMeshInterface* meshInterface)
    {
        m_meshInterface = meshInterface;
        buildMeshParts(meshInterface);
    }
 
    virtual ~btGImpactMeshShape()
    {
        int i = m_mesh_parts.size();
        while (i--)
        {
            btGImpactMeshShapePart* part = m_mesh_parts[i];
            delete part;
        }
        m_mesh_parts.clear();
    }
 
    btStridingMeshInterface* getMeshInterface()
    {
        return m_meshInterface;
    }
 
    const btStridingMeshInterface* getMeshInterface() const
    {
        return m_meshInterface;
    }
 
    int getMeshPartCount() const
    {
        return m_mesh_parts.size();
    }
 
    btGImpactMeshShapePart* getMeshPart(int index)
    {
        return m_mesh_parts[index];
    }
 
    const btGImpactMeshShapePart* getMeshPart(int index) const
    {
        return m_mesh_parts[index];
    }
 
    virtual void setLocalScaling(const btVector3& scaling)
    {
        localScaling = scaling;
 
        int i = m_mesh_parts.size();
        while (i--)
        {
            btGImpactMeshShapePart* part = m_mesh_parts[i];
            part->setLocalScaling(scaling);
        }
 
        m_needs_update = true;
    }
 
    virtual void setMargin(btScalar margin)
    {
        m_collisionMargin = margin;
 
        int i = m_mesh_parts.size();
        while (i--)
        {
            btGImpactMeshShapePart* part = m_mesh_parts[i];
            part->setMargin(margin);
        }
 
        m_needs_update = true;
    }
 
    virtual void postUpdate()
    {
        int i = m_mesh_parts.size();
        while (i--)
        {
            btGImpactMeshShapePart* part = m_mesh_parts[i];
            part->postUpdate();
        }
 
        m_needs_update = true;
    }
 
    virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
 
    virtual const btPrimitiveManagerBase* getPrimitiveManager() const
    {
        btAssert(0);
        return NULL;
    }
 
    virtual int getNumChildShapes() const
    {
        btAssert(0);
        return 0;
    }
 
    virtual bool childrenHasTransform() const
    {
        btAssert(0);
        return false;
    }
 
    virtual bool needsRetrieveTriangles() const
    {
        btAssert(0);
        return false;
    }
 
    virtual bool needsRetrieveTetrahedrons() const
    {
        btAssert(0);
        return false;
    }
 
    virtual void getBulletTriangle(int prim_index, btTriangleShapeEx& triangle) const
    {
        (void)prim_index;
        (void)triangle;
        btAssert(0);
    }
 
    virtual void getBulletTetrahedron(int prim_index, btTetrahedronShapeEx& tetrahedron) const
    {
        (void)prim_index;
        (void)tetrahedron;
        btAssert(0);
    }
 
    virtual void lockChildShapes() const
    {
        btAssert(0);
    }
 
    virtual void unlockChildShapes() const
    {
        btAssert(0);
    }
 
 
    virtual void getChildAabb(int child_index, const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
    {
        (void)child_index;
        (void)t;
        (void)aabbMin;
        (void)aabbMax;
        btAssert(0);
    }
 
    virtual btCollisionShape* getChildShape(int index)
    {
        (void)index;
        btAssert(0);
        return NULL;
    }
 
    virtual const btCollisionShape* getChildShape(int index) const
    {
        (void)index;
        btAssert(0);
        return NULL;
    }
 
    virtual btTransform getChildTransform(int index) const
    {
        (void)index;
        btAssert(0);
        return btTransform();
    }
 
 
    virtual void setChildTransform(int index, const btTransform& transform)
    {
        (void)index;
        (void)transform;
        btAssert(0);
    }
 
    virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const
    {
        return CONST_GIMPACT_TRIMESH_SHAPE;
    }
 
    virtual const char* getName() const
    {
        return "GImpactMesh";
    }
 
    virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const;
 
 
    virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
    virtual void processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const;
 
    virtual int calculateSerializeBufferSize() const;
 
    virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
 
struct btGImpactMeshShapeData
{
    btCollisionShapeData m_collisionShapeData;
 
    btStridingMeshInterfaceData m_meshInterface;
 
    btVector3FloatData m_localScaling;
 
    float m_collisionMargin;
 
    int m_gimpactSubType;
};
 
SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const
{
    return sizeof(btGImpactMeshShapeData);
}
 
#endif  //GIMPACT_MESH_SHAPE_H