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| 2 | #ifndef BT_CONVEX_INTERNAL_SHAPE_H |
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| 3 | #define BT_CONVEX_INTERNAL_SHAPE_H |
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| 4 | |
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| 5 | #include "btConvexShape.h" |
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| 6 | |
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| 7 | ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations. |
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| 8 | class btConvexInternalShape : public btConvexShape |
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| 9 | { |
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| 10 | |
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| 11 | protected: |
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| 12 | |
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| 13 | //local scaling. collisionMargin is not scaled ! |
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| 14 | btVector3 m_localScaling; |
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| 15 | |
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| 16 | btVector3 m_implicitShapeDimensions; |
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| 17 | |
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| 18 | btScalar m_collisionMargin; |
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| 19 | |
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| 20 | btScalar m_padding; |
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| 21 | |
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| 22 | btConvexInternalShape(); |
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| 23 | |
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| 24 | public: |
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| 25 | |
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| 26 | |
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| 27 | |
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| 28 | virtual ~btConvexInternalShape() |
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| 29 | { |
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| 30 | |
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| 31 | } |
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| 32 | |
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| 33 | |
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| 34 | virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; |
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| 35 | #ifndef __SPU__ |
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| 36 | virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0; |
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| 37 | |
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| 38 | //notice that the vectors should be unit length |
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| 39 | virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0; |
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| 40 | #endif //#ifndef __SPU__ |
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| 41 | |
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| 42 | const btVector3& getImplicitShapeDimensions() const |
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| 43 | { |
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| 44 | return m_implicitShapeDimensions; |
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| 45 | } |
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| 46 | |
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| 47 | ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version |
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| 48 | void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const |
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| 49 | { |
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| 50 | getAabbSlow(t,aabbMin,aabbMax); |
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| 51 | } |
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| 52 | |
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| 53 | |
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| 54 | |
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| 55 | virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
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| 56 | |
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| 57 | |
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| 58 | virtual void setLocalScaling(const btVector3& scaling); |
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| 59 | virtual const btVector3& getLocalScaling() const |
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| 60 | { |
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| 61 | return m_localScaling; |
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| 62 | } |
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| 63 | |
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| 64 | const btVector3& getLocalScalingNV() const |
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| 65 | { |
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| 66 | return m_localScaling; |
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| 67 | } |
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| 68 | |
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| 69 | virtual void setMargin(btScalar margin) |
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| 70 | { |
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| 71 | m_collisionMargin = margin; |
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| 72 | } |
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| 73 | virtual btScalar getMargin() const |
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| 74 | { |
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| 75 | return m_collisionMargin; |
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| 76 | } |
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| 77 | |
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| 78 | btScalar getMarginNV() const |
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| 79 | { |
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| 80 | return m_collisionMargin; |
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| 81 | } |
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| 82 | |
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| 83 | virtual int getNumPreferredPenetrationDirections() const |
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| 84 | { |
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| 85 | return 0; |
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| 86 | } |
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| 87 | |
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| 88 | virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const |
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| 89 | { |
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| 90 | (void)penetrationVector; |
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| 91 | (void)index; |
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| 92 | btAssert(0); |
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| 93 | } |
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| 94 | |
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| 95 | |
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| 96 | |
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| 97 | }; |
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| 98 | |
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| 99 | |
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| 100 | #endif //BT_CONVEX_INTERNAL_SHAPE_H |
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