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Viewing changes to src/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h

  • Committer: Bazaar Package Importer
  • Author(s): Christoph Egger
  • Date: 2011-02-24 22:36:25 UTC
  • mfrom: (1.1.9 upstream) (6.1.4 sid)
  • Revision ID: james.westby@ubuntu.com-20110224223625-ygrjfpg92obovuch
Tags: 0.7+dfsg1-1
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src/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
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#ifndef BT_CONVEX_INTERNAL_SHAPE_H
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#define BT_CONVEX_INTERNAL_SHAPE_H
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#include "btConvexShape.h"
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///btConvexInternalShape carries some additional data, shared by most implementations
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class btConvexInternalShape : public btConvexShape
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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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        btScalar        m_padding;
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public:
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        btConvexInternalShape();
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        virtual ~btConvexInternalShape()
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        {
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        }
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        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
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#ifndef __SPU__
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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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#endif //#ifndef __SPU__
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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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        const btVector3& getLocalScalingNV() const 
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        {
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                return m_localScaling;
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        }
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        virtual void    setMargin(btScalar margin)
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        {
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                m_collisionMargin = margin;
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        }
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        virtual btScalar        getMargin() const
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        {
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                return m_collisionMargin;
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        }
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        btScalar        getMarginNV() const
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        {
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                return m_collisionMargin;
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        }
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        virtual int             getNumPreferredPenetrationDirections() const
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        {
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                return 0;
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        }
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        virtual void    getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
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        {
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                (void)penetrationVector;
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                (void)index;
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                btAssert(0);
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        }
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};
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#endif //BT_CONVEX_INTERNAL_SHAPE_H
 
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#ifndef BT_CONVEX_INTERNAL_SHAPE_H
 
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#define BT_CONVEX_INTERNAL_SHAPE_H
 
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#include "btConvexShape.h"
 
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///btConvexInternalShape carries some additional data, shared by most implementations
 
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class btConvexInternalShape : public btConvexShape
 
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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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        btScalar        m_padding;
 
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public:
 
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        btConvexInternalShape();
 
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        virtual ~btConvexInternalShape()
 
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        {
 
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        }
 
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        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
 
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#ifndef __SPU__
 
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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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#endif //#ifndef __SPU__
 
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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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        const btVector3& getLocalScalingNV() const 
 
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        {
 
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                return m_localScaling;
 
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        }
 
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        virtual void    setMargin(btScalar margin)
 
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        {
 
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                m_collisionMargin = margin;
 
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        }
 
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        virtual btScalar        getMargin() const
 
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        {
 
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                return m_collisionMargin;
 
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        }
 
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        btScalar        getMarginNV() const
 
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        {
 
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                return m_collisionMargin;
 
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        }
 
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        virtual int             getNumPreferredPenetrationDirections() const
 
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        {
 
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                return 0;
 
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        }
 
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        virtual void    getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
 
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        {
 
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                (void)penetrationVector;
 
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                (void)index;
 
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                btAssert(0);
 
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        }
 
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};
 
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#endif //BT_CONVEX_INTERNAL_SHAPE_H