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- #ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
- #define BT_POLYHEDRAL_CONVEX_SHAPE_H
- #include "bullet/LinearMath/btMatrix3x3.h"
- #include "btConvexInternalShape.h"
- class btConvexPolyhedron;
- ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
- {
-
- protected:
-
- btConvexPolyhedron* m_polyhedron;
- public:
-
- BT_DECLARE_ALIGNED_ALLOCATOR();
-
- btPolyhedralConvexShape();
- virtual ~btPolyhedralConvexShape();
-
-
- virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0);
- const btConvexPolyhedron* getConvexPolyhedron() const
- {
- return m_polyhedron;
- }
-
- 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 bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
-
- };
- 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
- {
-
- btAssert(m_isLocalAabbValid);
- btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
- }
- virtual void setLocalScaling(const btVector3& scaling);
- virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
- void recalcLocalAabb();
- };
- #endif
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