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source: code/archive/tutorialHS09/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.h

Last change on this file was 5738, checked in by landauf, 15 years ago

merged libraries2 back to trunk

  • Property svn:eol-style set to native
File size: 2.0 KB
Line 
1/*
2btShapeHull implemented by John McCutchan.
3
4Bullet Continuous Collision Detection and Physics Library
5Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
6
7This software is provided 'as-is', without any express or implied warranty.
8In no event will the authors be held liable for any damages arising from the use of this software.
9Permission is granted to anyone to use this software for any purpose,
10including commercial applications, and to alter it and redistribute it freely,
11subject to the following restrictions:
12
131. 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.
142. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
153. This notice may not be removed or altered from any source distribution.
16*/
17
18#ifndef _SHAPE_HULL_H
19#define _SHAPE_HULL_H
20
21#include "LinearMath/btAlignedObjectArray.h"
22#include "BulletCollision/CollisionShapes/btConvexShape.h"
23
24
25///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
26///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
27///It approximates the convex hull using the supporting vertex of 42 directions.
28class btShapeHull
29{
30public:
31        btShapeHull (const btConvexShape* shape);
32        ~btShapeHull ();
33
34        bool buildHull (btScalar margin);
35
36        int numTriangles () const;
37        int numVertices () const;
38        int numIndices () const;
39
40        const btVector3* getVertexPointer() const
41        {
42                return &m_vertices[0];
43        }
44        const unsigned int* getIndexPointer() const
45        {
46                return &m_indices[0];
47        }
48
49protected:
50        btAlignedObjectArray<btVector3> m_vertices;
51        btAlignedObjectArray<unsigned int> m_indices;
52        unsigned int m_numIndices;
53        const btConvexShape* m_shape;
54};
55
56#endif //_SHAPE_HULL_H
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