Bullet Collision Detection & Physics Library
btPolyhedralConvexShape.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
22
26{
27protected:
29
30public:
32
34
36
39 virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin = 0);
40
41 virtual void setPolyhedralFeatures(btConvexPolyhedron & polyhedron);
42
44 {
45 return m_polyhedron;
46 }
47
48 //brute force implementations
49
50 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
51 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
52
53 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
54
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 ;
62
63 virtual bool isInside(const btVector3& pt, btScalar tolerance) const = 0;
64};
65
68{
72
73protected:
74 void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
75 {
76 m_isLocalAabbValid = true;
77 m_localAabbMin = aabbMin;
78 m_localAabbMax = aabbMax;
79 }
80
81 inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
82 {
84 aabbMin = m_localAabbMin;
85 aabbMax = m_localAabbMax;
86 }
87
88protected:
90
91public:
92 inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
93 {
94 //lazy evaluation of local aabb
96 btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
97 }
98
99 virtual void setLocalScaling(const btVector3& scaling);
100
101 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
102
103 void recalcLocalAabb();
104};
105
106#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
SIMD_FORCE_INLINE void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
#define btAssert(x)
Definition btScalar.h:153
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void setLocalScaling(const btVector3 &scaling)
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
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...
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const =0
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const =0
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const =0
virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0)
optional method mainly used to generate multiple contact points by clipping polyhedral features (face...
virtual int getNumPlanes() const =0
virtual void getVertex(int i, btVector3 &vtx) const =0
virtual void setPolyhedralFeatures(btConvexPolyhedron &polyhedron)
btConvexPolyhedron * m_polyhedron
const btConvexPolyhedron * getConvexPolyhedron() const
virtual int getNumVertices() const =0
virtual int getNumEdges() const =0
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82