93 lines
2.8 KiB
C++
93 lines
2.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CONVEX_SHAPE_INTERFACE1
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#define CONVEX_SHAPE_INTERFACE1
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#include "btCollisionShape.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btMatrix3x3.h"
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#include <vector>
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
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//todo: get rid of this btConvexCastResult thing!
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struct btConvexCastResult;
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/// btConvexShape is an abstract shape interface.
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/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
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/// used in combination with GJK or btConvexCast
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class btConvexShape : public btCollisionShape
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{
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protected:
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//local scaling. collisionMargin is not scaled !
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btVector3 m_localScaling;
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btVector3 m_implicitShapeDimensions;
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btScalar m_collisionMargin;
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public:
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btConvexShape();
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virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
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//notice that the vectors should be unit length
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
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const btVector3& getImplicitShapeDimensions() const
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{
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return m_implicitShapeDimensions;
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}
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///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
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void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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getAabbSlow(t,aabbMin,aabbMax);
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}
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virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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virtual void setLocalScaling(const btVector3& scaling);
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virtual const btVector3& getLocalScaling() const
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{
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return m_localScaling;
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}
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virtual void setMargin(float margin)
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{
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m_collisionMargin = margin;
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}
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virtual float getMargin() const
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{
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return m_collisionMargin;
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}
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};
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#endif //CONVEX_SHAPE_INTERFACE1
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