From 5e374328a87c1b418f8454d5ef38470484804961 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 12 Mar 2011 20:34:17 +0000 Subject: update Bullet physics sdk to latest trunk/version 2.78 add PhysicsConstraints.exportBulletFile(char* fileName) python command I'll be checking the bf-committers mailing list, in case this commit broke stuff scons needs to be updated, I'll do that in a second. --- .../CollisionShapes/btConvex2dShape.h | 80 ++++++++++++++++++++++ 1 file changed, 80 insertions(+) create mode 100644 extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h') diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h new file mode 100644 index 00000000000..caf54329da9 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h @@ -0,0 +1,80 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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. +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 BT_CONVEX_2D_SHAPE_H +#define BT_CONVEX_2D_SHAPE_H + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0. +///For 2d boxes, the btBox2dShape is recommended. +class btConvex2dShape : public btConvexShape +{ + btConvexShape* m_childConvexShape; + + public: + + btConvex2dShape( btConvexShape* convexChildShape); + + virtual ~btConvex2dShape(); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + btConvexShape* getChildShape() + { + return m_childConvexShape; + } + + const btConvexShape* getChildShape() const + { + return m_childConvexShape; + } + + virtual const char* getName()const + { + return "Convex2dShape"; + } + + + + /////////////////////////// + + + ///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; + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void setLocalScaling(const btVector3& scaling) ; + virtual const btVector3& getLocalScaling() const ; + + virtual void setMargin(btScalar margin); + virtual btScalar getMargin() const; + + virtual int getNumPreferredPenetrationDirections() const; + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const; + + +}; + +#endif //BT_CONVEX_2D_SHAPE_H -- cgit v1.2.3