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Diffstat (limited to 'extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h')
| -rw-r--r-- | extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h | 59 |
1 files changed, 59 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h new file mode 100644 index 00000000000..5be0b61da6f --- /dev/null +++ b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. + */ + +#ifndef CONVEX_HULL_SHAPE_H +#define CONVEX_HULL_SHAPE_H + +#include "PolyhedralConvexShape.h" +#include "BroadphaseCollision/BroadphaseProxy.h" // for the types + +#include <vector> + +///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices) +///No connectivity is needed. LocalGetSupportingVertex iterates linearly though all vertices. +///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash. +///(memory is much slower then the cpu) +class ConvexHullShape : public PolyhedralConvexShape +{ + std::vector<SimdPoint3> m_points; + +public: + ConvexHullShape(SimdPoint3* points,int numPoints); + + void AddPoint(const SimdPoint3& point) + { + m_points.push_back(point); + } + virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const; + virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const; + + virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia); + + virtual int GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; } + + //debugging + virtual char* GetName()const {return "Convex";} + + + virtual int GetNumVertices() const; + virtual int GetNumEdges() const; + virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const; + virtual void GetVertex(int i,SimdPoint3& vtx) const; + virtual int GetNumPlanes() const; + virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const; + virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const; + + + +}; + + +#endif //CONVEX_HULL_SHAPE_H
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