source: code/archive/environment2/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.h @ 12412

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. 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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef CONVEX_SHAPE_INTERFACE1
#define CONVEX_SHAPE_INTERFACE1

#include "btCollisionShape.h"

#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
#include "LinearMath/btAlignedAllocator.h"

#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10

/// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.
/// It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector.
ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
{


public:

        BT_DECLARE_ALIGNED_ALLOCATOR();

        btConvexShape ();

        virtual ~btConvexShape();

        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const = 0;

        ////////
        #ifndef __SPU__
        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0;
        #endif //#ifndef __SPU__

        btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const;
        btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const;
        btScalar getMarginNonVirtual () const;
        void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;

        
        //notice that the vectors should be unit length
        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;

        ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
        void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;

        virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;

        virtual void    setLocalScaling(const btVector3& scaling) =0;
        virtual const btVector3& getLocalScaling() const =0;

        virtual void    setMargin(btScalar margin)=0;

        virtual btScalar        getMargin() const=0;

        virtual int             getNumPreferredPenetrationDirections() const=0;
        
        virtual void    getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;


        
        
};



#endif //CONVEX_SHAPE_INTERFACE1