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Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h | 92 |
1 files changed, 92 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h new file mode 100644 index 00000000000..3ffde1ba5ed --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h @@ -0,0 +1,92 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 CONVEX_SHAPE_INTERFACE1 +#define CONVEX_SHAPE_INTERFACE1 + +#include "btCollisionShape.h" + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include <vector> +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +//todo: get rid of this btConvexCastResult thing! +struct btConvexCastResult; + + +/// btConvexShape is an abstract shape interface. +/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface. +/// used in combination with GJK or btConvexCast +class btConvexShape : public btCollisionShape +{ + +protected: + + //local scaling. collisionMargin is not scaled ! + btVector3 m_localScaling; + + btVector3 m_implicitShapeDimensions; + + btScalar m_collisionMargin; + +public: + btConvexShape(); + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0; + + //notice that the vectors should be unit length + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0; + + const btVector3& getImplicitShapeDimensions() const + { + return m_implicitShapeDimensions; + } + + ///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 + { + getAabbSlow(t,aabbMin,aabbMax); + } + + + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const + { + return m_localScaling; + } + + + virtual void setMargin(float margin) + { + m_collisionMargin = margin; + } + virtual float getMargin() const + { + return m_collisionMargin; + } + + +}; + + + +#endif //CONVEX_SHAPE_INTERFACE1 |