Bullet Collision Detection & Physics Library
btPolyhedralConvexShape.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:
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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_POLYHEDRAL_CONVEX_SHAPE_H
17 #define BT_POLYHEDRAL_CONVEX_SHAPE_H
18 
19 #include "LinearMath/btMatrix3x3.h"
20 #include "btConvexInternalShape.h"
21 class btConvexPolyhedron;
22 
23 
26 {
27 
28 
29 protected:
30 
32 
33 public:
34 
36 
37 
39 
40  virtual ~btPolyhedralConvexShape();
41 
44  virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0);
45 
47  {
48  return m_polyhedron;
49  }
50 
51  //brute force implementations
52 
53  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
54  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
55 
56  virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
57 
58 
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 ;
66 
67  virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
68 
69 };
70 
71 
74 {
75 
79 
80 protected:
81 
82  void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
83  {
84  m_isLocalAabbValid = true;
85  m_localAabbMin = aabbMin;
86  m_localAabbMax = aabbMax;
87  }
88 
89  inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
90  {
92  aabbMin = m_localAabbMin;
93  aabbMax = m_localAabbMax;
94  }
95 
96 public:
97 
99 
100  inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
101  {
102 
103  //lazy evaluation of local aabb
105  btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
106  }
107 
108  virtual void setLocalScaling(const btVector3& scaling);
109 
110  virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
111 
112  void recalcLocalAabb();
113 
114 };
115 
116 #endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
virtual void setLocalScaling(const btVector3 &scaling)
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
#define btAssert(x)
Definition: btScalar.h:101
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
const btConvexPolyhedron * getConvexPolyhedron() const
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
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
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:357
btConvexPolyhedron * m_polyhedron
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:182
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)