| /* |
| 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_CONVEX_INTERNAL_SHAPE_H |
| #define BT_CONVEX_INTERNAL_SHAPE_H |
| |
| #include "btConvexShape.h" |
| #include "LinearMath/btAabbUtil2.h" |
| |
| ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations. |
| class btConvexInternalShape : public btConvexShape |
| { |
| |
| protected: |
| |
| //local scaling. collisionMargin is not scaled ! |
| btVector3 m_localScaling; |
| |
| btVector3 m_implicitShapeDimensions; |
| |
| btScalar m_collisionMargin; |
| |
| btScalar m_padding; |
| |
| btConvexInternalShape(); |
| |
| public: |
| |
| |
| |
| virtual ~btConvexInternalShape() |
| { |
| |
| } |
| |
| virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; |
| |
| 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); |
| } |
| |
| |
| |
| virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
| |
| |
| 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); |
| } |
| |
| |
| |
| }; |
| |
| |
| ///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations |
| class btConvexInternalAabbCachingShape : public btConvexInternalShape |
| { |
| btVector3 m_localAabbMin; |
| btVector3 m_localAabbMax; |
| bool m_isLocalAabbValid; |
| |
| protected: |
| |
| btConvexInternalAabbCachingShape(); |
| |
| void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) |
| { |
| m_isLocalAabbValid = true; |
| m_localAabbMin = aabbMin; |
| m_localAabbMax = aabbMax; |
| } |
| |
| inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const |
| { |
| btAssert(m_isLocalAabbValid); |
| aabbMin = m_localAabbMin; |
| aabbMax = m_localAabbMax; |
| } |
| |
| inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const |
| { |
| |
| //lazy evaluation of local aabb |
| btAssert(m_isLocalAabbValid); |
| btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); |
| } |
| |
| public: |
| |
| virtual void setLocalScaling(const btVector3& scaling); |
| |
| virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
| |
| void recalcLocalAabb(); |
| |
| }; |
| |
| #endif //BT_CONVEX_INTERNAL_SHAPE_H |