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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* 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 BU_SHAPE
#define BU_SHAPE
#include <SimdPoint3.h>
#include <SimdMatrix3x3.h>
#include <CollisionShapes/ConvexShape.h>
///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes.
class PolyhedralConvexShape : public ConvexShape
{
public:
PolyhedralConvexShape();
//brute force implementations
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
virtual int GetNumVertices() const = 0 ;
virtual int GetNumEdges() const = 0;
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const = 0;
virtual void GetVertex(int i,SimdPoint3& vtx) const = 0;
virtual int GetNumPlanes() const = 0;
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const = 0;
// virtual int GetIndex(int i) const = 0 ;
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const = 0;
};
#endif //BU_SHAPE
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