| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef BT_CONVEX_2D_SHAPE_H |
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| 17 | #define BT_CONVEX_2D_SHAPE_H |
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| 18 | |
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| 19 | #include "BulletCollision/CollisionShapes/btConvexShape.h" |
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| 20 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types |
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| 21 | |
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| 22 | ///The btConvex2dShape allows to use arbitrary convex shapes are 2d convex shapes, with the Z component assumed to be 0. |
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| 23 | ///For 2d boxes, the btBox2dShape is recommended. |
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| 24 | class btConvex2dShape : public btConvexShape |
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| 25 | { |
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| 26 | btConvexShape* m_childConvexShape; |
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| 27 | |
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| 28 | public: |
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| 29 | |
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| 30 | btConvex2dShape( btConvexShape* convexChildShape); |
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| 31 | |
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| 32 | virtual ~btConvex2dShape(); |
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| 33 | |
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| 34 | virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
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| 35 | |
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| 36 | virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; |
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| 37 | |
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| 38 | virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
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| 39 | |
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| 40 | virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
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| 41 | |
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| 42 | btConvexShape* getChildShape() |
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| 43 | { |
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| 44 | return m_childConvexShape; |
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| 45 | } |
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| 46 | |
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| 47 | const btConvexShape* getChildShape() const |
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| 48 | { |
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| 49 | return m_childConvexShape; |
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| 50 | } |
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| 51 | |
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| 52 | virtual const char* getName()const |
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| 53 | { |
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| 54 | return "Convex2dShape"; |
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| 55 | } |
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| 56 | |
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| 57 | |
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| 58 | |
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| 59 | /////////////////////////// |
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| 60 | |
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| 61 | |
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| 62 | ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version |
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| 63 | void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
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| 64 | |
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| 65 | virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
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| 66 | |
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| 67 | virtual void setLocalScaling(const btVector3& scaling) ; |
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| 68 | virtual const btVector3& getLocalScaling() const ; |
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| 69 | |
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| 70 | virtual void setMargin(btScalar margin); |
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| 71 | virtual btScalar getMargin() const; |
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| 72 | |
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| 73 | virtual int getNumPreferredPenetrationDirections() const; |
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| 74 | |
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| 75 | virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const; |
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| 76 | |
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| 77 | |
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| 78 | }; |
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| 79 | |
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| 80 | #endif //BT_CONVEX_2D_SHAPE_H |
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