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;
24 ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
25 ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
31 btConvexPolyhedron* m_polyhedron;
35 BT_DECLARE_ALIGNED_ALLOCATOR();
38 btPolyhedralConvexShape();
40 virtual ~btPolyhedralConvexShape();
42 ///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
43 ///experimental/work-in-progress
44 virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0);
46 const btConvexPolyhedron* getConvexPolyhedron() const
51 //brute force implementations
53 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
54 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
56 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
59 virtual int getNumVertices() const = 0 ;
60 virtual int getNumEdges() const = 0;
61 virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
62 virtual void getVertex(int i,btVector3& vtx) const = 0;
63 virtual int getNumPlanes() const = 0;
64 virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
65 // virtual int getIndex(int i) const = 0 ;
67 virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
72 ///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
73 class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
76 btVector3 m_localAabbMin;
77 btVector3 m_localAabbMax;
78 bool m_isLocalAabbValid;
82 void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
84 m_isLocalAabbValid = true;
85 m_localAabbMin = aabbMin;
86 m_localAabbMax = aabbMax;
89 inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
91 btAssert(m_isLocalAabbValid);
92 aabbMin = m_localAabbMin;
93 aabbMax = m_localAabbMax;
98 btPolyhedralConvexAabbCachingShape();
100 inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
103 //lazy evaluation of local aabb
104 btAssert(m_isLocalAabbValid);
105 btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
108 virtual void setLocalScaling(const btVector3& scaling);
110 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
112 void recalcLocalAabb();
116 #endif //BT_POLYHEDRAL_CONVEX_SHAPE_H