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

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btConvexTriangleMeshShape.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#ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
16#define BT_CONVEX_TRIANGLEMESH_SHAPE_H
17
18#include "btPolyhedralConvexShape.h"
19#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
20
23 ATTRIBUTE_ALIGNED16(class)
24 btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
25{
26 class btStridingMeshInterface* m_stridingMesh;
27
28public:
29 BT_DECLARE_ALIGNED_ALLOCATOR();
30
31 btConvexTriangleMeshShape(btStridingMeshInterface * meshInterface, bool calcAabb = true);
32
33 class btStridingMeshInterface* getMeshInterface()
34 {
35 return m_stridingMesh;
36 }
37 const class btStridingMeshInterface* getMeshInterface() const
38 {
39 return m_stridingMesh;
40 }
41
42 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
43 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
44 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
45
46 //debugging
47 virtual const char* getName() const { return "ConvexTrimesh"; }
48
49 virtual int getNumVertices() const;
50 virtual int getNumEdges() const;
51 virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
52 virtual void getVertex(int i, btVector3& vtx) const;
53 virtual int getNumPlanes() const;
54 virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
55 virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
56
57 virtual void setLocalScaling(const btVector3& scaling);
58 virtual const btVector3& getLocalScaling() const;
59
65 void calculatePrincipalAxisTransform(btTransform & principal, btVector3 & inertia, btScalar & volume) const;
66};
67
68#endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
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
btConvexTriangleMeshShape
The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good...
Definition btConvexTriangleMeshShape.h:25
btConvexTriangleMeshShape::getName
virtual const char * getName() const
Definition btConvexTriangleMeshShape.h:47
btConvexTriangleMeshShape::m_stridingMesh
class btStridingMeshInterface * m_stridingMesh
Definition btConvexTriangleMeshShape.h:26
btConvexTriangleMeshShape::getMeshInterface
class btStridingMeshInterface * getMeshInterface()
Definition btConvexTriangleMeshShape.h:33
btConvexTriangleMeshShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvexTriangleMeshShape::getMeshInterface
const class btStridingMeshInterface * getMeshInterface() const
Definition btConvexTriangleMeshShape.h:37
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition btPolyhedralConvexShape.h:68
btStridingMeshInterface
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
Definition btStridingMeshInterface.h:28
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