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

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btUniformScalingShape.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_UNIFORM_SCALING_SHAPE_H
17#define BT_UNIFORM_SCALING_SHAPE_H
18
19#include "btConvexShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
24 ATTRIBUTE_ALIGNED16(class)
25 btUniformScalingShape : public btConvexShape
26{
27 btConvexShape* m_childConvexShape;
28
29 btScalar m_uniformScalingFactor;
30
31public:
32 BT_DECLARE_ALIGNED_ALLOCATOR();
33
34 btUniformScalingShape(btConvexShape * convexChildShape, btScalar uniformScalingFactor);
35
36 virtual ~btUniformScalingShape();
37
38 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
39
40 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
41
42 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
43
44 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
45
46 btScalar getUniformScalingFactor() const
47 {
48 return m_uniformScalingFactor;
49 }
50
51 btConvexShape* getChildShape()
52 {
53 return m_childConvexShape;
54 }
55
56 const btConvexShape* getChildShape() const
57 {
58 return m_childConvexShape;
59 }
60
61 virtual const char* getName() const
62 {
63 return "UniformScalingShape";
64 }
65
67
69 void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
70
71 virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
72
73 virtual void setLocalScaling(const btVector3& scaling);
74 virtual const btVector3& getLocalScaling() const;
75
76 virtual void setMargin(btScalar margin);
77 virtual btScalar getMargin() const;
78
79 virtual int getNumPreferredPenetrationDirections() const;
80
81 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
82};
83
84#endif //BT_UNIFORM_SCALING_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
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
btUniformScalingShape
The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory effi...
Definition btUniformScalingShape.h:26
btUniformScalingShape::getName
virtual const char * getName() const
Definition btUniformScalingShape.h:61
btUniformScalingShape::m_uniformScalingFactor
btScalar m_uniformScalingFactor
Definition btUniformScalingShape.h:29
btUniformScalingShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btUniformScalingShape::getUniformScalingFactor
btScalar getUniformScalingFactor() const
Definition btUniformScalingShape.h:46
btUniformScalingShape::getChildShape
btConvexShape * getChildShape()
Definition btUniformScalingShape.h:51
btUniformScalingShape::m_childConvexShape
btConvexShape * m_childConvexShape
Definition btUniformScalingShape.h:27
btUniformScalingShape::getChildShape
const btConvexShape * getChildShape() const
Definition btUniformScalingShape.h:56
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82