| 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_POINT_CLOUD_SHAPE_H |
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| 17 | #define BT_CONVEX_POINT_CLOUD_SHAPE_H |
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| 18 | |
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| 19 | #include "btPolyhedralConvexShape.h" |
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| 20 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types |
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| 21 | #include "LinearMath/btAlignedObjectArray.h" |
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| 22 | |
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| 23 | ///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices. |
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| 24 | ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape |
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| 25 | { |
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| 26 | btVector3* m_unscaledPoints; |
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| 27 | int m_numPoints; |
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| 28 | |
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| 29 | public: |
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| 30 | BT_DECLARE_ALIGNED_ALLOCATOR(); |
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| 31 | |
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| 32 | btConvexPointCloudShape() |
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| 33 | { |
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| 34 | m_localScaling.setValue(1.f,1.f,1.f); |
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| 35 | m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE; |
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| 36 | m_unscaledPoints = 0; |
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| 37 | m_numPoints = 0; |
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| 38 | } |
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| 39 | |
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| 40 | btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true) |
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| 41 | { |
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| 42 | m_localScaling = localScaling; |
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| 43 | m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE; |
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| 44 | m_unscaledPoints = points; |
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| 45 | m_numPoints = numPoints; |
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| 46 | |
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| 47 | if (computeAabb) |
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| 48 | recalcLocalAabb(); |
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| 49 | } |
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| 50 | |
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| 51 | void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f)) |
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| 52 | { |
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| 53 | m_unscaledPoints = points; |
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| 54 | m_numPoints = numPoints; |
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| 55 | m_localScaling = localScaling; |
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| 56 | |
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| 57 | if (computeAabb) |
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| 58 | recalcLocalAabb(); |
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| 59 | } |
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| 60 | |
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| 61 | SIMD_FORCE_INLINE btVector3* getUnscaledPoints() |
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| 62 | { |
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| 63 | return m_unscaledPoints; |
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| 64 | } |
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| 65 | |
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| 66 | SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const |
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| 67 | { |
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| 68 | return m_unscaledPoints; |
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| 69 | } |
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| 70 | |
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| 71 | SIMD_FORCE_INLINE int getNumPoints() const |
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| 72 | { |
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| 73 | return m_numPoints; |
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| 74 | } |
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| 75 | |
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| 76 | SIMD_FORCE_INLINE btVector3 getScaledPoint( int index) const |
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| 77 | { |
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| 78 | return m_unscaledPoints[index] * m_localScaling; |
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| 79 | } |
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| 80 | |
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| 81 | #ifndef __SPU__ |
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| 82 | virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; |
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| 83 | virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
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| 84 | virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
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| 85 | #endif |
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| 86 | |
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| 87 | |
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| 88 | //debugging |
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| 89 | virtual const char* getName()const {return "ConvexPointCloud";} |
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| 90 | |
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| 91 | virtual int getNumVertices() const; |
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| 92 | virtual int getNumEdges() const; |
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| 93 | virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; |
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| 94 | virtual void getVertex(int i,btVector3& vtx) const; |
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| 95 | virtual int getNumPlanes() const; |
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| 96 | virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; |
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| 97 | virtual bool isInside(const btVector3& pt,btScalar tolerance) const; |
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| 98 | |
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| 99 | ///in case we receive negative scaling |
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| 100 | virtual void setLocalScaling(const btVector3& scaling); |
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| 101 | }; |
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| 102 | |
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| 103 | |
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| 104 | #endif //BT_CONVEX_POINT_CLOUD_SHAPE_H |
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| 105 | |
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