2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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16 #ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
17 #define BT_POLYHEDRAL_CONVEX_SHAPE_H
19 #include "LinearMath/btMatrix3x3.h"
20 #include "btConvexInternalShape.h"
21 class btConvexPolyhedron;
23 ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
24 ATTRIBUTE_ALIGNED16(class)
25 btPolyhedralConvexShape : public btConvexInternalShape
28 btConvexPolyhedron* m_polyhedron;
31 BT_DECLARE_ALIGNED_ALLOCATOR();
33 btPolyhedralConvexShape();
35 virtual ~btPolyhedralConvexShape();
37 ///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
38 ///experimental/work-in-progress
39 virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin = 0);
41 virtual void setPolyhedralFeatures(btConvexPolyhedron & polyhedron);
43 const btConvexPolyhedron* getConvexPolyhedron() const
48 //brute force implementations
50 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
51 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
53 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
55 virtual int getNumVertices() const = 0;
56 virtual int getNumEdges() const = 0;
57 virtual void getEdge(int i, btVector3& pa, btVector3& pb) const = 0;
58 virtual void getVertex(int i, btVector3& vtx) const = 0;
59 virtual int getNumPlanes() const = 0;
60 virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const = 0;
61 // virtual int getIndex(int i) const = 0 ;
63 virtual bool isInside(const btVector3& pt, btScalar tolerance) const = 0;
66 ///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
67 class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
69 btVector3 m_localAabbMin;
70 btVector3 m_localAabbMax;
71 bool m_isLocalAabbValid;
74 void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
76 m_isLocalAabbValid = true;
77 m_localAabbMin = aabbMin;
78 m_localAabbMax = aabbMax;
81 inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
83 btAssert(m_isLocalAabbValid);
84 aabbMin = m_localAabbMin;
85 aabbMax = m_localAabbMax;
89 btPolyhedralConvexAabbCachingShape();
92 inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
94 //lazy evaluation of local aabb
95 btAssert(m_isLocalAabbValid);
96 btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
99 virtual void setLocalScaling(const btVector3& scaling);
101 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
103 void recalcLocalAabb();
106 #endif //BT_POLYHEDRAL_CONVEX_SHAPE_H