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Bullet/CollisionShapes/CollisionShape.h

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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef COLLISION_SHAPE_H
+#define COLLISION_SHAPE_H
+
+#include "SimdTransform.h"
+#include "SimdVector3.h"
+#include <SimdMatrix3x3.h>
+#include "SimdPoint3.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" //for the shape types
+
+///CollisionShape provides generic interface for collidable objects
+class CollisionShape
+{
+
+public:
+
+	CollisionShape()
+	:m_tempDebug(0)
+	{
+	}
+	virtual ~CollisionShape()
+	{
+	}
+
+	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const =0;
+
+	virtual void	GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const;
+
+	virtual float	GetAngularMotionDisc() const;
+
+	virtual int		GetShapeType() const=0;
+
+	///CalculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
+	///result is conservative
+	void CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax);
+
+	bool	IsPolyhedral() const
+	{
+		return (GetShapeType() < IMPLICIT_CONVEX_SHAPES_START_HERE);
+	}
+
+	bool	IsConvex() const
+	{
+		return (GetShapeType() < CONCAVE_SHAPES_START_HERE);
+	}
+	bool	IsConcave() const
+	{
+		return (GetShapeType() > CONCAVE_SHAPES_START_HERE);
+	}
+
+
+	virtual void	setLocalScaling(const SimdVector3& scaling) =0;
+	virtual const SimdVector3& getLocalScaling() const =0;
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) = 0;
+
+//debugging support
+	virtual char*	GetName()const =0 ;
+	const char* GetExtraDebugInfo() const { return m_tempDebug;}
+	void  SetExtraDebugInfo(const char* extraDebugInfo) { m_tempDebug = extraDebugInfo;}
+	const char * m_tempDebug;
+//endif debugging support
+
+	virtual void	SetMargin(float margin) = 0;
+	virtual float	GetMargin() const = 0;
+
+};	
+
+#endif //COLLISION_SHAPE_H
+