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source: code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h @ 1963

Last change on this file since 1963 was 1963, checked in by rgrieder, 15 years ago

Added Bullet physics engine.

  • Property svn:eol-style set to native
File size: 2.0 KB
Line 
1
2#ifndef BT_CONVEX_INTERNAL_SHAPE_H
3#define BT_CONVEX_INTERNAL_SHAPE_H
4
5#include "btConvexShape.h"
6
7///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
8class btConvexInternalShape : public btConvexShape
9{
10
11        protected:
12
13        //local scaling. collisionMargin is not scaled !
14        btVector3       m_localScaling;
15
16        btVector3       m_implicitShapeDimensions;
17       
18        btScalar        m_collisionMargin;
19
20        btScalar        m_padding;
21
22        btConvexInternalShape();
23
24public:
25
26       
27
28        virtual ~btConvexInternalShape()
29        {
30
31        }
32
33
34        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
35#ifndef __SPU__
36        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
37       
38        //notice that the vectors should be unit length
39        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
40#endif //#ifndef __SPU__
41
42        const btVector3& getImplicitShapeDimensions() const
43        {
44                return m_implicitShapeDimensions;
45        }
46
47        ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
48        void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
49        {
50                getAabbSlow(t,aabbMin,aabbMax);
51        }
52
53
54       
55        virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
56
57
58        virtual void    setLocalScaling(const btVector3& scaling);
59        virtual const btVector3& getLocalScaling() const 
60        {
61                return m_localScaling;
62        }
63
64        const btVector3& getLocalScalingNV() const 
65        {
66                return m_localScaling;
67        }
68
69        virtual void    setMargin(btScalar margin)
70        {
71                m_collisionMargin = margin;
72        }
73        virtual btScalar        getMargin() const
74        {
75                return m_collisionMargin;
76        }
77
78        btScalar        getMarginNV() const
79        {
80                return m_collisionMargin;
81        }
82
83        virtual int             getNumPreferredPenetrationDirections() const
84        {
85                return 0;
86        }
87       
88        virtual void    getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
89        {
90                (void)penetrationVector;
91                (void)index;
92                btAssert(0);
93        }
94
95
96       
97};
98
99
100#endif //BT_CONVEX_INTERNAL_SHAPE_H
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