diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h | 25 |
1 files changed, 20 insertions, 5 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index 4c4ce7feaa7..7567a42d3ba 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -16,7 +16,6 @@ subject to the following restrictions: #ifndef BU_SHAPE #define BU_SHAPE -#include "LinearMath/btPoint3.h" #include "LinearMath/btMatrix3x3.h" #include "LinearMath/btAabbUtil2.h" #include "btConvexInternalShape.h" @@ -36,12 +35,28 @@ public: btPolyhedralConvexShape(); //brute force implementations + 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; + void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) + { + m_isLocalAabbValid = true; + m_localAabbMin = aabbMin; + m_localAabbMax = aabbMax; + } + + inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const + { + btAssert(m_isLocalAabbValid); + aabbMin = m_localAabbMin; + aabbMax = m_localAabbMax; + } + inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const { @@ -59,13 +74,13 @@ public: virtual int getNumVertices() const = 0 ; virtual int getNumEdges() const = 0; - virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const = 0; - virtual void getVertex(int i,btPoint3& vtx) 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,btPoint3& planeSupport,int i ) const = 0; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0; // virtual int getIndex(int i) const = 0 ; - virtual bool isInside(const btPoint3& pt,btScalar tolerance) const = 0; + 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; |