Bullet Collision Detection & Physics Library
btConvexShape.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_CONVEX_SHAPE_INTERFACE1
17 #define BT_CONVEX_SHAPE_INTERFACE1
18 
19 #include "btCollisionShape.h"
20 
21 #include "LinearMath/btVector3.h"
22 #include "LinearMath/btTransform.h"
23 #include "LinearMath/btMatrix3x3.h"
24 #include "btCollisionMargin.h"
26 
27 #define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
28 
32 {
33 
34 
35 public:
36 
38 
39  btConvexShape ();
40 
41  virtual ~btConvexShape();
42 
43  virtual btVector3 localGetSupportingVertex(const btVector3& vec)const = 0;
44 
46  #ifndef __SPU__
47  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0;
48  #endif //#ifndef __SPU__
49 
50  btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const;
51  btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const;
52  btScalar getMarginNonVirtual () const;
53  void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
54 
55  virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
56 
57 
58  //notice that the vectors should be unit length
59  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
60 
62  void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
63 
64  virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
65 
66  virtual void setLocalScaling(const btVector3& scaling) =0;
67  virtual const btVector3& getLocalScaling() const =0;
68 
69  virtual void setMargin(btScalar margin)=0;
70 
71  virtual btScalar getMargin() const=0;
72 
73  virtual int getNumPreferredPenetrationDirections() const=0;
74 
75  virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
76 
77 
78 
79 
80 };
81 
82 
83 
84 #endif //BT_CONVEX_SHAPE_INTERFACE1
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
static float max(float a, float b)
static float min(float a, float b)
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:59
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:357
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266