diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h | 42 |
1 files changed, 28 insertions, 14 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h index 4773de2dc51..baf074be6c3 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h @@ -24,7 +24,7 @@ subject to the following restrictions: ///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; + btAlignedObjectArray<btVector3> m_unscaledPoints; public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -33,23 +33,38 @@ public: ///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. ///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint. ///btConvexHullShape make an internal copy of the points. - btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3)); + btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3)); - void addPoint(const btPoint3& point); + void addPoint(const btVector3& point); - btPoint3* getPoints() + + btVector3* getUnscaledPoints() + { + return &m_unscaledPoints[0]; + } + + const btVector3* getUnscaledPoints() const + { + return &m_unscaledPoints[0]; + } + + ///getPoints is obsolete, please use getUnscaledPoints + const btVector3* getPoints() const { - return &m_points[0]; + return getUnscaledPoints(); } - const btPoint3* getPoints() const + + + + SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const { - return &m_points[0]; + return m_unscaledPoints[i] * m_localScaling; } - int getNumPoints() const + SIMD_FORCE_INLINE int getNumPoints() const { - return m_points.size(); + return m_unscaledPoints.size(); } virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; @@ -57,7 +72,6 @@ public: virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; } //debugging virtual const char* getName()const {return "Convex";} @@ -65,11 +79,11 @@ public: virtual int getNumVertices() const; virtual int getNumEdges() const; - virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const; - virtual void getVertex(int i,btPoint3& vtx) const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; virtual int getNumPlanes() const; - virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const; - virtual bool isInside(const btPoint3& pt,btScalar tolerance) const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; ///in case we receive negative scaling virtual void setLocalScaling(const btVector3& scaling); |