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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef CONVEX_SHAPE_INTERFACE1
#define CONVEX_SHAPE_INTERFACE1
#include "CollisionShape.h"
#include "SimdVector3.h"
#include "SimdTransform.h"
#include "SimdMatrix3x3.h"
#include <vector>
#include "NarrowPhaseCollision/CollisionMargin.h"
//todo: get rid of this ConvexCastResult thing!
struct ConvexCastResult;
/// ConvexShape is an abstract shape interface.
/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
/// used in combination with GJK or ConvexCast
class ConvexShape : public CollisionShape
{
public:
ConvexShape();
virtual ~ConvexShape();
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const= 0;
// testing for hullnode code
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
{
GetAabbSlow(t,aabbMin,aabbMax);
}
virtual void GetAabbSlow(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
virtual void setLocalScaling(const SimdVector3& scaling);
virtual const SimdVector3& getLocalScaling() const
{
return m_localScaling;
}
virtual void SetMargin(float margin)
{
m_collisionMargin = margin;
}
virtual float GetMargin() const
{
return m_collisionMargin;
}
private:
SimdScalar m_collisionMargin;
//local scaling. collisionMargin is not scaled !
protected:
SimdVector3 m_localScaling;
};
#endif //CONVEX_SHAPE_INTERFACE1
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