Bullet Collision Detection & Physics Library: btConvex2dShape.h Source File

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btConvex2dShape.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_2D_SHAPE_H
17#define BT_CONVEX_2D_SHAPE_H
18
19#include "BulletCollision/CollisionShapes/btConvexShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
24 ATTRIBUTE_ALIGNED16(class)
25 btConvex2dShape : public btConvexShape
26{
27 btConvexShape* m_childConvexShape;
28
29public:
30 BT_DECLARE_ALIGNED_ALLOCATOR();
31
32 btConvex2dShape(btConvexShape * convexChildShape);
33
34 virtual ~btConvex2dShape();
35
36 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
37
38 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
39
40 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
41
42 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
43
44 btConvexShape* getChildShape()
45 {
46 return m_childConvexShape;
47 }
48
49 const btConvexShape* getChildShape() const
50 {
51 return m_childConvexShape;
52 }
53
54 virtual const char* getName() const
55 {
56 return "Convex2dShape";
57 }
58
60
62 void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
63
64 virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
65
66 virtual void setLocalScaling(const btVector3& scaling);
67 virtual const btVector3& getLocalScaling() const;
68
69 virtual void setMargin(btScalar margin);
70 virtual btScalar getMargin() const;
71
72 virtual int getNumPreferredPenetrationDirections() const;
73
74 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
75};
76
77#endif //BT_CONVEX_2D_SHAPE_H
btBroadphaseProxy.h
btConvexShape.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
btConvex2dShape
The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component a...
Definition: btConvex2dShape.h:26
btConvex2dShape::getChildShape
const btConvexShape * getChildShape() const
Definition: btConvex2dShape.h:49
btConvex2dShape::getChildShape
btConvexShape * getChildShape()
Definition: btConvex2dShape.h:44
btConvex2dShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvex2dShape::getName
virtual const char * getName() const
Definition: btConvex2dShape.h:54
btConvex2dShape::m_childConvexShape
btConvexShape * m_childConvexShape
Definition: btConvex2dShape.h:27
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
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