diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h | 23 |
1 files changed, 14 insertions, 9 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h index 3fd5e382525..4773de2dc51 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h @@ -17,18 +17,17 @@ subject to the following restrictions: #define CONVEX_HULL_SHAPE_H #include "btPolyhedralConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types -#include "../../LinearMath/btAlignedObjectArray.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btAlignedObjectArray.h" -///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) +///The btConvexHullShape implements an implicit convex hull of an array of vertices. +///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex. ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape { btAlignedObjectArray<btPoint3> m_points; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); ///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory. @@ -43,7 +42,12 @@ public: return &m_points[0]; } - int getNumPoints() + const btPoint3* getPoints() const + { + return &m_points[0]; + } + + int getNumPoints() const { return m_points.size(); } @@ -56,7 +60,7 @@ public: virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; } //debugging - virtual char* getName()const {return "Convex";} + virtual const char* getName()const {return "Convex";} virtual int getNumVertices() const; @@ -67,7 +71,8 @@ public: virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const; virtual bool isInside(const btPoint3& pt,btScalar tolerance) const; - + ///in case we receive negative scaling + virtual void setLocalScaling(const btVector3& scaling); }; |