Bullet Collision Detection & Physics Library: btConvexShape.h Source File

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btConvexShape.h
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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_SHAPE_INTERFACE1
17#define BT_CONVEX_SHAPE_INTERFACE1
18
19#include "btCollisionShape.h"
20
21#include "LinearMath/btVector3.h"
22#include "LinearMath/btTransform.h"
23#include "LinearMath/btMatrix3x3.h"
24#include "btCollisionMargin.h"
25#include "LinearMath/btAlignedAllocator.h"
26
27#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
28
31 ATTRIBUTE_ALIGNED16(class)
32 btConvexShape : public btCollisionShape
33{
34public:
35 BT_DECLARE_ALIGNED_ALLOCATOR();
36
37 btConvexShape();
38
39 virtual ~btConvexShape();
40
41 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const = 0;
42
44#ifndef __SPU__
45 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const = 0;
46#endif //#ifndef __SPU__
47
48 btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3& vec) const;
49 btVector3 localGetSupportVertexNonVirtual(const btVector3& vec) const;
50 btScalar getMarginNonVirtual() const;
51 void getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
52
53 virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
54
55 //notice that the vectors should be unit length
56 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const = 0;
57
59 void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
60
61 virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
62
63 virtual void setLocalScaling(const btVector3& scaling) = 0;
64 virtual const btVector3& getLocalScaling() const = 0;
65
66 virtual void setMargin(btScalar margin) = 0;
67
68 virtual btScalar getMargin() const = 0;
69
70 virtual int getNumPreferredPenetrationDirections() const = 0;
71
72 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const = 0;
73};
74
75#endif //BT_CONVEX_SHAPE_INTERFACE1
btAlignedAllocator.h
btCollisionMargin.h
btCollisionShape.h
btMatrix3x3.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btTransform.h
btVector3.h
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btConvexShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const =0
btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
btConvexShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)=0
btConvexShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btConvexShape::setMargin
virtual void setMargin(btScalar margin)=0
btConvexShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const =0
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btConvexShape::getAabb
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btConvexShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
btConvexShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvexShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82