f1627677df
* Unused variables. * Missing newlines at ends of #included files. * signed int loop variables where the termination condition is an unsigned 'get number of' function. * 'NULL' used inappropriately for an integer or character constant (NULL is a pointer) * abstract base classes with no virtual destructor. * Floating point constants used to initialise integer variables.
52 lines
1.7 KiB
C++
52 lines
1.7 KiB
C++
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
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#define CONVEX_TRIANGLEMESH_SHAPE_H
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#include "PolyhedralConvexShape.h"
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#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
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#include <vector>
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/// ConvexTriangleMeshShape is a convex hull of a triangle mesh. If you just have a point cloud, you can use ConvexHullShape instead.
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/// It uses the StridingMeshInterface instead of a point cloud. This can avoid the duplication of the triangle mesh data.
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class ConvexTriangleMeshShape : public PolyhedralConvexShape
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{
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class StridingMeshInterface* m_stridingMesh;
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public:
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ConvexTriangleMeshShape(StridingMeshInterface* meshInterface);
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class StridingMeshInterface* GetStridingMesh()
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{
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return m_stridingMesh;
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}
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virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
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virtual int GetShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
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//debugging
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virtual char* GetName()const {return "ConvexTrimesh";}
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virtual int GetNumVertices() const;
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virtual int GetNumEdges() const;
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virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
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virtual void GetVertex(int i,SimdPoint3& vtx) const;
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virtual int GetNumPlanes() const;
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virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
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virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
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void setLocalScaling(const SimdVector3& scaling);
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};
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#endif //CONVEX_TRIANGLEMESH_SHAPE_H
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