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source: code/trunk/src/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h @ 3014

Last change on this file since 3014 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

  • Property svn:eol-style set to native
File size: 3.3 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 CONVEX_HULL_SHAPE_H
17#define CONVEX_HULL_SHAPE_H
18
19#include "btPolyhedralConvexShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21#include "LinearMath/btAlignedObjectArray.h"
22
23///The btConvexHullShape implements an implicit convex hull of an array of vertices.
24///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
25ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
26{
27        btAlignedObjectArray<btVector3> m_unscaledPoints;
28
29public:
30        BT_DECLARE_ALIGNED_ALLOCATOR();
31
32       
33        ///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
34        ///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
35        ///btConvexHullShape make an internal copy of the points.
36        btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
37
38        void addPoint(const btVector3& point);
39
40       
41        btVector3* getUnscaledPoints()
42        {
43                return &m_unscaledPoints[0];
44        }
45
46        const btVector3* getUnscaledPoints() const
47        {
48                return &m_unscaledPoints[0];
49        }
50
51        ///getPoints is obsolete, please use getUnscaledPoints
52        const btVector3* getPoints() const
53        {
54                return getUnscaledPoints();
55        }
56
57       
58
59
60        SIMD_FORCE_INLINE       btVector3 getScaledPoint(int i) const
61        {
62                return m_unscaledPoints[i] * m_localScaling;
63        }
64
65        SIMD_FORCE_INLINE       int getNumPoints() const 
66        {
67                return m_unscaledPoints.size();
68        }
69
70        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
71        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
72        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
73       
74
75
76        //debugging
77        virtual const char*     getName()const {return "Convex";}
78
79       
80        virtual int     getNumVertices() const;
81        virtual int getNumEdges() const;
82        virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
83        virtual void getVertex(int i,btVector3& vtx) const;
84        virtual int     getNumPlanes() const;
85        virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
86        virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
87
88        ///in case we receive negative scaling
89        virtual void    setLocalScaling(const btVector3& scaling);
90
91};
92
93
94#endif //CONVEX_HULL_SHAPE_H
95
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