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 MULTI_SPHERE_MINKOWSKI_H
#define MULTI_SPHERE_MINKOWSKI_H

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



class btMultiSphereShape : public btConvexInternalAabbCachingShape
{
    
    btAlignedObjectArray<btVector3> m_localPositionArray;
    btAlignedObjectArray<btScalar>  m_radiArray;
    
public:
    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;
};

struct  btMultiSphereShapeData
{
    btConvexInternalShapeData   m_convexInternalShapeData;

    btPositionAndRadius *m_localPositionArrayPtr;
    int             m_localPositionArraySize;
    char    m_padding[4];
};



SIMD_FORCE_INLINE   int btMultiSphereShape::calculateSerializeBufferSize() const
{
    return sizeof(btMultiSphereShapeData);
}



#endif //MULTI_SPHERE_MINKOWSKI_H