| /* |
| 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 BU_SHAPE |
| #define BU_SHAPE |
| |
| #include "LinearMath/btMatrix3x3.h" |
| #include "btConvexInternalShape.h" |
| |
| |
| ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. |
| class btPolyhedralConvexShape : public btConvexInternalShape |
| { |
| |
| protected: |
| |
| public: |
| |
| btPolyhedralConvexShape(); |
| |
| //brute force implementations |
| |
| virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
| virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
| |
| virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
| |
| |
| virtual int getNumVertices() const = 0 ; |
| virtual int getNumEdges() const = 0; |
| virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0; |
| virtual void getVertex(int i,btVector3& vtx) const = 0; |
| virtual int getNumPlanes() const = 0; |
| virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0; |
| // virtual int getIndex(int i) const = 0 ; |
| |
| virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0; |
| |
| }; |
| |
| |
| ///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape |
| class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape |
| { |
| |
| btVector3 m_localAabbMin; |
| btVector3 m_localAabbMax; |
| bool m_isLocalAabbValid; |
| |
| protected: |
| |
| 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; |
| } |
| |
| public: |
| |
| btPolyhedralConvexAabbCachingShape(); |
| |
| 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); |
| } |
| |
| virtual void setLocalScaling(const btVector3& scaling); |
| |
| virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
| |
| void recalcLocalAabb(); |
| |
| }; |
| |
| #endif //BU_SHAPE |