| /* |
| 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_UNIFORM_SCALING_SHAPE_H |
| #define BT_UNIFORM_SCALING_SHAPE_H |
| |
| #include "btConvexShape.h" |
| #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types |
| |
| ///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way. |
| ///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it. |
| class btUniformScalingShape : public btConvexShape |
| { |
| btConvexShape* m_childConvexShape; |
| |
| btScalar m_uniformScalingFactor; |
| |
| public: |
| |
| btUniformScalingShape( btConvexShape* convexChildShape, btScalar uniformScalingFactor); |
| |
| virtual ~btUniformScalingShape(); |
| |
| virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
| |
| virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; |
| |
| virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
| |
| virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
| |
| btScalar getUniformScalingFactor() const |
| { |
| return m_uniformScalingFactor; |
| } |
| |
| btConvexShape* getChildShape() |
| { |
| return m_childConvexShape; |
| } |
| |
| const btConvexShape* getChildShape() const |
| { |
| return m_childConvexShape; |
| } |
| |
| virtual const char* getName()const |
| { |
| return "UniformScalingShape"; |
| } |
| |
| |
| |
| /////////////////////////// |
| |
| |
| ///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; |
| |
| virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
| |
| virtual void setLocalScaling(const btVector3& scaling) ; |
| virtual const btVector3& getLocalScaling() const ; |
| |
| virtual void setMargin(btScalar margin); |
| virtual btScalar getMargin() const; |
| |
| virtual int getNumPreferredPenetrationDirections() const; |
| |
| virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const; |
| |
| |
| }; |
| |
| #endif //BT_UNIFORM_SCALING_SHAPE_H |