btMultiSphereShape.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_MULTI_SPHERE_MINKOWSKI_H
#define BT_MULTI_SPHERE_MINKOWSKI_H
 
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btAabbUtil2.h"

ATTRIBUTE_ALIGNED16(class)
btMultiSphereShape : public btConvexInternalAabbCachingShape
{
    btAlignedObjectArray<btVector3> m_localPositionArray;
    btAlignedObjectArray<btScalar> m_radiArray;
 
public:
    BT_DECLARE_ALIGNED_ALLOCATOR();
 
    btMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);

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

    virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
 
    virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
    int getSphereCount() const
    {
        return m_localPositionArray.size();
    }
 
    const btVector3& getSpherePosition(int index) const
    {
        return m_localPositionArray[index];
    }
 
    btScalar getSphereRadius(int index) const
    {
        return m_radiArray[index];
    }
 
    virtual const char* getName() const
    {
        return "MultiSphere";
    }
 
    virtual int calculateSerializeBufferSize() const;

    virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
 
struct btPositionAndRadius
{
    btVector3FloatData m_pos;
    float m_radius;
};
 
// clang-format off
 
struct  btMultiSphereShapeData
{
    btConvexInternalShapeData   m_convexInternalShapeData;
 
    btPositionAndRadius *m_localPositionArrayPtr;
    int             m_localPositionArraySize;
    char    m_padding[4];
};
 
// clang-format on
 
SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
{
    return sizeof(btMultiSphereShapeData);
}
 
#endif  //BT_MULTI_SPHERE_MINKOWSKI_H