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source: code/branches/SuperOrxoBros_HS18/src/external/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h @ 12177

Last change on this file since 12177 was 12177, checked in by siramesh, 5 years ago

Super Orxo Bros Final (Sidharth Ramesh, Nisa Balta, Jeff Ren)

File size: 3.4 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_CONVEX_POINT_CLOUD_SHAPE_H
17#define BT_CONVEX_POINT_CLOUD_SHAPE_H
18
19#include "btPolyhedralConvexShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21#include "LinearMath/btAlignedObjectArray.h"
22
23///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
24ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
25{
26        btVector3* m_unscaledPoints;
27        int m_numPoints;
28
29public:
30        BT_DECLARE_ALIGNED_ALLOCATOR();
31
32        btConvexPointCloudShape()
33        {
34                m_localScaling.setValue(1.f,1.f,1.f);
35                m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
36                m_unscaledPoints = 0;
37                m_numPoints = 0;
38        }
39
40        btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
41        {
42                m_localScaling = localScaling;
43                m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
44                m_unscaledPoints = points;
45                m_numPoints = numPoints;
46
47                if (computeAabb)
48                        recalcLocalAabb();
49        }
50
51        void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f))
52        {
53                m_unscaledPoints = points;
54                m_numPoints = numPoints;
55                m_localScaling = localScaling;
56
57                if (computeAabb)
58                        recalcLocalAabb();
59        }
60
61        SIMD_FORCE_INLINE       btVector3* getUnscaledPoints()
62        {
63                return m_unscaledPoints;
64        }
65
66        SIMD_FORCE_INLINE       const btVector3* getUnscaledPoints() const
67        {
68                return m_unscaledPoints;
69        }
70
71        SIMD_FORCE_INLINE       int getNumPoints() const 
72        {
73                return m_numPoints;
74        }
75
76        SIMD_FORCE_INLINE       btVector3       getScaledPoint( int index) const
77        {
78                return m_unscaledPoints[index] * m_localScaling;
79        }
80
81#ifndef __SPU__
82        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
83        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
84        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
85#endif
86
87
88        //debugging
89        virtual const char*     getName()const {return "ConvexPointCloud";}
90
91        virtual int     getNumVertices() const;
92        virtual int getNumEdges() const;
93        virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
94        virtual void getVertex(int i,btVector3& vtx) const;
95        virtual int     getNumPlanes() const;
96        virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
97        virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
98
99        ///in case we receive negative scaling
100        virtual void    setLocalScaling(const btVector3& scaling);
101};
102
103
104#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
105
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