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source: code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.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: 2.3 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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 BU_SIMPLEX_1TO4_SHAPE
17#define BU_SIMPLEX_1TO4_SHAPE
18
19
20#include "btPolyhedralConvexShape.h"
21#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
22
23
24///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
25class btBU_Simplex1to4 : public btPolyhedralConvexShape
26{
27protected:
28
29        int     m_numVertices;
30        btPoint3        m_vertices[4];
31
32public:
33        btBU_Simplex1to4();
34
35        btBU_Simplex1to4(const btPoint3& pt0);
36        btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1);
37        btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2);
38        btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3);
39
40   
41        void    reset()
42        {
43                m_numVertices = 0;
44        }
45       
46
47
48        void addVertex(const btPoint3& pt);
49
50        //PolyhedralConvexShape interface
51
52        virtual int     getNumVertices() const;
53
54        virtual int getNumEdges() const;
55
56        virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
57       
58        virtual void getVertex(int i,btPoint3& vtx) const;
59
60        virtual int     getNumPlanes() const;
61
62        virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const;
63
64        virtual int getIndex(int i) const;
65
66        virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
67
68
69        ///getName is for debugging
70        virtual const char*     getName()const { return "btBU_Simplex1to4";}
71
72};
73
74#endif //BU_SIMPLEX_1TO4_SHAPE
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