diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h | 54 |
1 files changed, 31 insertions, 23 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index 7567a42d3ba..2c691b95652 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ +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. @@ -17,7 +17,6 @@ subject to the following restrictions: #define BU_SHAPE #include "LinearMath/btMatrix3x3.h" -#include "LinearMath/btAabbUtil2.h" #include "btConvexInternalShape.h" @@ -26,10 +25,7 @@ class btPolyhedralConvexShape : public btConvexInternalShape { protected: - btVector3 m_localAabbMin; - btVector3 m_localAabbMax; - bool m_isLocalAabbValid; - + public: btPolyhedralConvexShape(); @@ -38,10 +34,32 @@ public: virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + virtual int getNumVertices() const = 0 ; + virtual int getNumEdges() const = 0; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0; + virtual void getVertex(int i,btVector3& vtx) const = 0; + virtual int getNumPlanes() const = 0; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0; +// virtual int getIndex(int i) const = 0 ; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0; + +}; + + +///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape +class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape +{ + + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + bool m_isLocalAabbValid; + +protected: void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) { @@ -57,6 +75,10 @@ public: aabbMax = m_localAabbMax; } +public: + + btPolyhedralConvexAabbCachingShape(); + inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const { @@ -65,25 +87,11 @@ public: btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); } - - virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; - virtual void setLocalScaling(const btVector3& scaling); - void recalcLocalAabb(); - - virtual int getNumVertices() const = 0 ; - virtual int getNumEdges() const = 0; - virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0; - virtual void getVertex(int i,btVector3& vtx) const = 0; - virtual int getNumPlanes() const = 0; - virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0; -// virtual int getIndex(int i) const = 0 ; + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; - virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0; - - /// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp - class Hull* m_optionalHull; + void recalcLocalAabb(); }; |