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#ifndef BT_CONVEX_INTERNAL_SHAPE_H
#define BT_CONVEX_INTERNAL_SHAPE_H
#include "btConvexShape.h"
///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
class btConvexInternalShape : public btConvexShape
{
protected:
//local scaling. collisionMargin is not scaled !
btVector3 m_localScaling;
btVector3 m_implicitShapeDimensions;
btScalar m_collisionMargin;
btScalar m_padding;
public:
btConvexInternalShape();
virtual ~btConvexInternalShape()
{
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
#endif //#ifndef __SPU__
const btVector3& getImplicitShapeDimensions() const
{
return m_implicitShapeDimensions;
}
///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
{
getAabbSlow(t,aabbMin,aabbMax);
}
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
const btVector3& getLocalScalingNV() const
{
return m_localScaling;
}
virtual void setMargin(btScalar margin)
{
m_collisionMargin = margin;
}
virtual btScalar getMargin() const
{
return m_collisionMargin;
}
btScalar getMarginNV() const
{
return m_collisionMargin;
}
virtual int getNumPreferredPenetrationDirections() const
{
return 0;
}
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
(void)penetrationVector;
(void)index;
btAssert(0);
}
};
#endif //BT_CONVEX_INTERNAL_SHAPE_H
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