~ubuntu-branches/ubuntu/saucy/emscripten/saucy-proposed

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 BT_POLYHEDRAL_CONVEX_SHAPE_H

#define BT_POLYHEDRAL_CONVEX_SHAPE_H

#include "LinearMath/btMatrix3x3.h"

#include "btConvexInternalShape.h"

class btConvexPolyhedron;

///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.

class btPolyhedralConvexShape : public btConvexInternalShape

{

protected:

btConvexPolyhedron* m_polyhedron;

public:

btPolyhedralConvexShape();

virtual ~btPolyhedralConvexShape();

///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)

virtual bool initializePolyhedralFeatures();

const btConvexPolyhedron* getConvexPolyhedron() const

{

return m_polyhedron;

}

//brute force implementations

virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;

virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;

virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;

virtual int getNumVertices() const = 0 ;

virtual int getNumEdges() const = 0;

virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;

virtual void getVertex(int i,btVector3& vtx) const = 0;

virtual int getNumPlanes() const = 0;

virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;

// virtual int getIndex(int i) const = 0 ;

virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;

};

///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape

class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape

{

btVector3 m_localAabbMin;

btVector3 m_localAabbMax;

bool m_isLocalAabbValid;

protected:

void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)

{

m_isLocalAabbValid = true;

m_localAabbMin = aabbMin;

m_localAabbMax = aabbMax;

}

inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const

{

btAssert(m_isLocalAabbValid);

aabbMin = m_localAabbMin;

aabbMax = m_localAabbMax;

}

public:

btPolyhedralConvexAabbCachingShape();

inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const

{

//lazy evaluation of local aabb

100

btAssert(m_isLocalAabbValid);

101

btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);

102

}

103

104

virtual void setLocalScaling(const btVector3& scaling);

105

106

virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

107

108

void recalcLocalAabb();

109

110

};

111

112

#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H

Older »