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

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btConvexPointCloudShape.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_POINT_CLOUD_SHAPE_H
17#define BT_CONVEX_POINT_CLOUD_SHAPE_H
18
19#include "btPolyhedralConvexShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21#include "LinearMath/btAlignedObjectArray.h"
22
24 ATTRIBUTE_ALIGNED16(class)
25 btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
26{
27 btVector3* m_unscaledPoints;
28 int m_numPoints;
29
30public:
31 BT_DECLARE_ALIGNED_ALLOCATOR();
32
33 btConvexPointCloudShape()
34 {
35 m_localScaling.setValue(1.f, 1.f, 1.f);
36 m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
37 m_unscaledPoints = 0;
38 m_numPoints = 0;
39 }
40
41 btConvexPointCloudShape(btVector3 * points, int numPoints, const btVector3& localScaling, bool computeAabb = true)
42 {
43 m_localScaling = localScaling;
44 m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
45 m_unscaledPoints = points;
46 m_numPoints = numPoints;
47
48 if (computeAabb)
49 recalcLocalAabb();
50 }
51
52 void setPoints(btVector3 * points, int numPoints, bool computeAabb = true, const btVector3& localScaling = btVector3(1.f, 1.f, 1.f))
53 {
54 m_unscaledPoints = points;
55 m_numPoints = numPoints;
56 m_localScaling = localScaling;
57
58 if (computeAabb)
59 recalcLocalAabb();
60 }
61
62 SIMD_FORCE_INLINE btVector3* getUnscaledPoints()
63 {
64 return m_unscaledPoints;
65 }
66
67 SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const
68 {
69 return m_unscaledPoints;
70 }
71
72 SIMD_FORCE_INLINE int getNumPoints() const
73 {
74 return m_numPoints;
75 }
76
77 SIMD_FORCE_INLINE btVector3 getScaledPoint(int index) const
78 {
79 return m_unscaledPoints[index] * m_localScaling;
80 }
81
82#ifndef __SPU__
83 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
84 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
85 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
86#endif
87
88 //debugging
89 virtual const char* getName() const { return "ConvexPointCloud"; }
90
91 virtual int getNumVertices() const;
92 virtual int getNumEdges() const;
93 virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
94 virtual void getVertex(int i, btVector3& vtx) const;
95 virtual int getNumPlanes() const;
96 virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
97 virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
98
100 virtual void setLocalScaling(const btVector3& scaling);
101};
102
103#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
btAlignedObjectArray.h
btBroadphaseProxy.h
CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE
@ CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:35
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
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btConvexPointCloudShape
The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
Definition: btConvexPointCloudShape.h:26
btConvexPointCloudShape::getName
virtual const char * getName() const
Definition: btConvexPointCloudShape.h:89
btConvexPointCloudShape::getScaledPoint
btVector3 getScaledPoint(int index) const
Definition: btConvexPointCloudShape.h:77
btConvexPointCloudShape::btConvexPointCloudShape
btConvexPointCloudShape(btVector3 *points, int numPoints, const btVector3 &localScaling, bool computeAabb=true)
Definition: btConvexPointCloudShape.h:41
btConvexPointCloudShape::getNumPoints
int getNumPoints() const
Definition: btConvexPointCloudShape.h:72
btConvexPointCloudShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvexPointCloudShape::getUnscaledPoints
btVector3 * getUnscaledPoints()
Definition: btConvexPointCloudShape.h:62
btConvexPointCloudShape::setPoints
void setPoints(btVector3 *points, int numPoints, bool computeAabb=true, const btVector3 &localScaling=btVector3(1.f, 1.f, 1.f))
Definition: btConvexPointCloudShape.h:52
btConvexPointCloudShape::btConvexPointCloudShape
btConvexPointCloudShape()
Definition: btConvexPointCloudShape.h:33
btConvexPointCloudShape::m_unscaledPoints
btVector3 * m_unscaledPoints
Definition: btConvexPointCloudShape.h:27
btConvexPointCloudShape::m_numPoints
int m_numPoints
Definition: btConvexPointCloudShape.h:28
btConvexPointCloudShape::getUnscaledPoints
const btVector3 * getUnscaledPoints() const
Definition: btConvexPointCloudShape.h:67
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:68
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82