| 1 | /* |
|---|
| 2 | Bullet Continuous Collision Detection and Physics Library |
|---|
| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
|---|
| 4 | |
|---|
| 5 | This software is provided 'as-is', without any express or implied warranty. |
|---|
| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
|---|
| 7 | Permission is granted to anyone to use this software for any purpose, |
|---|
| 8 | including commercial applications, and to alter it and redistribute it freely, |
|---|
| 9 | subject to the following restrictions: |
|---|
| 10 | |
|---|
| 11 | 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. |
|---|
| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
|---|
| 13 | 3. This notice may not be removed or altered from any source distribution. |
|---|
| 14 | */ |
|---|
| 15 | |
|---|
| 16 | #ifndef BU_SIMPLEX_1TO4_SHAPE |
|---|
| 17 | #define BU_SIMPLEX_1TO4_SHAPE |
|---|
| 18 | |
|---|
| 19 | |
|---|
| 20 | #include "btPolyhedralConvexShape.h" |
|---|
| 21 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
|---|
| 22 | |
|---|
| 23 | |
|---|
| 24 | ///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead. |
|---|
| 25 | class btBU_Simplex1to4 : public btPolyhedralConvexShape |
|---|
| 26 | { |
|---|
| 27 | protected: |
|---|
| 28 | |
|---|
| 29 | int m_numVertices; |
|---|
| 30 | btPoint3 m_vertices[4]; |
|---|
| 31 | |
|---|
| 32 | public: |
|---|
| 33 | btBU_Simplex1to4(); |
|---|
| 34 | |
|---|
| 35 | btBU_Simplex1to4(const btPoint3& pt0); |
|---|
| 36 | btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1); |
|---|
| 37 | btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2); |
|---|
| 38 | btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3); |
|---|
| 39 | |
|---|
| 40 | |
|---|
| 41 | void reset() |
|---|
| 42 | { |
|---|
| 43 | m_numVertices = 0; |
|---|
| 44 | } |
|---|
| 45 | |
|---|
| 46 | |
|---|
| 47 | |
|---|
| 48 | void addVertex(const btPoint3& pt); |
|---|
| 49 | |
|---|
| 50 | //PolyhedralConvexShape interface |
|---|
| 51 | |
|---|
| 52 | virtual int getNumVertices() const; |
|---|
| 53 | |
|---|
| 54 | virtual int getNumEdges() const; |
|---|
| 55 | |
|---|
| 56 | virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const; |
|---|
| 57 | |
|---|
| 58 | virtual void getVertex(int i,btPoint3& vtx) const; |
|---|
| 59 | |
|---|
| 60 | virtual int getNumPlanes() const; |
|---|
| 61 | |
|---|
| 62 | virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const; |
|---|
| 63 | |
|---|
| 64 | virtual int getIndex(int i) const; |
|---|
| 65 | |
|---|
| 66 | virtual bool isInside(const btPoint3& pt,btScalar tolerance) const; |
|---|
| 67 | |
|---|
| 68 | |
|---|
| 69 | ///getName is for debugging |
|---|
| 70 | virtual const char* getName()const { return "btBU_Simplex1to4";} |
|---|
| 71 | |
|---|
| 72 | }; |
|---|
| 73 | |
|---|
| 74 | #endif //BU_SIMPLEX_1TO4_SHAPE |
|---|
