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Bullet/CollisionShapes/Simplex1to4Shape.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 BU_SIMPLEX_1TO4_SHAPE
+#define BU_SIMPLEX_1TO4_SHAPE
+
+
+#include <CollisionShapes/PolyhedralConvexShape.h>
+#include "BroadphaseCollision/BroadphaseProxy.h"
+
+
+///BU_Simplex1to4 implements feature based and implicit simplex of up to 4 vertices (tetrahedron, triangle, line, vertex).
+class BU_Simplex1to4 : public PolyhedralConvexShape
+{
+protected:
+
+	int	m_numVertices;
+	SimdPoint3	m_vertices[4];
+
+public:
+	BU_Simplex1to4();
+
+	BU_Simplex1to4(const SimdPoint3& pt0);
+	BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1);
+	BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2);
+	BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2,const SimdPoint3& pt3);
+
+    
+	void	Reset()
+	{
+		m_numVertices = 0;
+	}
+	
+
+	virtual int	GetShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; }
+
+	void AddVertex(const SimdPoint3& pt);
+
+	//PolyhedralConvexShape interface
+
+	virtual int	GetNumVertices() const;
+
+	virtual int GetNumEdges() const;
+
+	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
+	
+	virtual void GetVertex(int i,SimdPoint3& vtx) const;
+
+	virtual int	GetNumPlanes() const;
+
+	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const;
+
+	virtual int GetIndex(int i) const;
+
+	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
+
+
+	///GetName is for debugging
+	virtual  char*	GetName()const { return "BU_Simplex1to4";}
+
+};
+
+#endif //BU_SIMPLEX_1TO4_SHAPE