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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_SIMPLEX_1TO4_SHAPE
#define BU_SIMPLEX_1TO4_SHAPE
#include <CollisionShapes/PolyhedralConvexShape.h>
#include "BroadphaseCollision/BroadphaseProxy.h"
///BU_Simplex1to4 implements feature based and implicit simplex of up to 4 vertices (tetrahedron, triangle, line, vertex).
class BU_Simplex1to4 : public PolyhedralConvexShape
{
protected:
int m_numVertices;
SimdPoint3 m_vertices[4];
public:
BU_Simplex1to4();
BU_Simplex1to4(const SimdPoint3& pt0);
BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1);
BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2);
BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2,const SimdPoint3& pt3);
void Reset()
{
m_numVertices = 0;
}
virtual int GetShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; }
void AddVertex(const SimdPoint3& pt);
//PolyhedralConvexShape interface
virtual int GetNumVertices() const;
virtual int GetNumEdges() const;
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
virtual void GetVertex(int i,SimdPoint3& vtx) const;
virtual int GetNumPlanes() const;
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const;
virtual int GetIndex(int i) const;
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
///GetName is for debugging
virtual char* GetName()const { return "BU_Simplex1to4";}
};
#endif //BU_SIMPLEX_1TO4_SHAPE
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