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source: code/branches/mac_osx/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.h @ 8689

Last change on this file since 8689 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 3.5 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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 COLLISION_SHAPE_H
17#define COLLISION_SHAPE_H
18
19#include "LinearMath/btTransform.h"
20#include "LinearMath/btVector3.h"
21#include "LinearMath/btMatrix3x3.h"
22#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
23
24///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
25class btCollisionShape
26{
27protected:
28        int m_shapeType;
29        void* m_userPointer;
30
31public:
32
33        btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
34        {
35        }
36
37        virtual ~btCollisionShape()
38        {
39        }
40
41        ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
42        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
43
44        virtual void    getBoundingSphere(btVector3& center,btScalar& radius) const;
45
46        ///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
47        virtual btScalar        getAngularMotionDisc() const;
48
49        virtual btScalar        getContactBreakingThreshold() const;
50
51
52        ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
53        ///result is conservative
54        void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
55
56#ifndef __SPU__
57
58        SIMD_FORCE_INLINE bool  isPolyhedral() const
59        {
60                return btBroadphaseProxy::isPolyhedral(getShapeType());
61        }
62
63        SIMD_FORCE_INLINE bool  isConvex() const
64        {
65                return btBroadphaseProxy::isConvex(getShapeType());
66        }
67        SIMD_FORCE_INLINE bool  isConcave() const
68        {
69                return btBroadphaseProxy::isConcave(getShapeType());
70        }
71        SIMD_FORCE_INLINE bool  isCompound() const
72        {
73                return btBroadphaseProxy::isCompound(getShapeType());
74        }
75
76        ///isInfinite is used to catch simulation error (aabb check)
77        SIMD_FORCE_INLINE bool isInfinite() const
78        {
79                return btBroadphaseProxy::isInfinite(getShapeType());
80        }
81
82       
83        virtual void    setLocalScaling(const btVector3& scaling) =0;
84        virtual const btVector3& getLocalScaling() const =0;
85        virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
86
87
88//debugging support
89        virtual const char*     getName()const =0 ;
90#endif //__SPU__
91
92       
93        int             getShapeType() const { return m_shapeType; }
94        virtual void    setMargin(btScalar margin) = 0;
95        virtual btScalar        getMargin() const = 0;
96
97       
98        ///optional user data pointer
99        void    setUserPointer(void*  userPtr)
100        {
101                m_userPointer = userPtr;
102        }
103
104        void*   getUserPointer() const
105        {
106                return m_userPointer;
107        }
108
109};     
110
111#endif //COLLISION_SHAPE_H
112
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