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

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btTetrahedronShape.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_SIMPLEX_1TO4_SHAPE
17#define BT_SIMPLEX_1TO4_SHAPE
18
19#include "btPolyhedralConvexShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21
23 ATTRIBUTE_ALIGNED16(class)
24 btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
25{
26protected:
27 int m_numVertices;
28 btVector3 m_vertices[4];
29
30public:
31 BT_DECLARE_ALIGNED_ALLOCATOR();
32
33 btBU_Simplex1to4();
34
35 btBU_Simplex1to4(const btVector3& pt0);
36 btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1);
37 btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2);
38 btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3);
39
40 void reset()
41 {
42 m_numVertices = 0;
43 }
44
45 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
46
47 void addVertex(const btVector3& pt);
48
49 //PolyhedralConvexShape interface
50
51 virtual int getNumVertices() const;
52
53 virtual int getNumEdges() const;
54
55 virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
56
57 virtual void getVertex(int i, btVector3& vtx) const;
58
59 virtual int getNumPlanes() const;
60
61 virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
62
63 virtual int getIndex(int i) const;
64
65 virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
66
68 virtual const char* getName() const { return "btBU_Simplex1to4"; }
69};
70
71#endif //BT_SIMPLEX_1TO4_SHAPE
btBroadphaseProxy.h
btPolyhedralConvexShape.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
btBU_Simplex1to4
The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes....
Definition: btTetrahedronShape.h:25
btBU_Simplex1to4::getName
virtual const char * getName() const
getName is for debugging
Definition: btTetrahedronShape.h:68
btBU_Simplex1to4::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btBU_Simplex1to4::reset
void reset()
Definition: btTetrahedronShape.h:40
btBU_Simplex1to4::m_numVertices
int m_numVertices
Definition: btTetrahedronShape.h:27
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:68
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