Changeset 2430 for code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

Timestamp:

Dec 13, 2008, 11:45:51 PM (17 years ago)

Author:

rgrieder

Message:

Updated to Bullet 2.73 (first part).

File:

• code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h (modified) (3 diffs)

code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

@@ -17 +17 @@
 #define BU_SHAPE
 
-#include "LinearMath/btPoint3.h"
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btAabbUtil2.h"
@@ -32 +31 @@
         bool            m_isLocalAabbValid;
 
-        btPolyhedralConvexShape();
 public:
 
-        
+        btPolyhedralConvexShape();
 
         //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;
 
+
+        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;
+        }
 
         inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
@@ -61 +75 @@
         virtual int     getNumVertices() const = 0 ;
         virtual int getNumEdges() const = 0;
-        virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const = 0;
-        virtual void getVertex(int i,btPoint3& vtx) 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,btPoint3& planeSupport,int i ) const = 0;
+        virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
 //      virtual int getIndex(int i) const = 0 ; 
 
-        virtual bool isInside(const btPoint3& pt,btScalar tolerance) const = 0;
+        virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
         
         /// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp