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source: code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h @ 10859

Last change on this file since 10859 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 3.5 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
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#ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
16#define BT_CONVEX_TRIANGLEMESH_SHAPE_H
17
18
19#include "btPolyhedralConvexShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
22
23/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
24/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
25class btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
26{
27
28        class btStridingMeshInterface*  m_stridingMesh;
29
30public:
31        btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
32
33        class btStridingMeshInterface*  getMeshInterface()
34        {
35                return m_stridingMesh;
36        }
37        const class btStridingMeshInterface* getMeshInterface() const
38        {
39                return m_stridingMesh;
40        }
41       
42        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
43        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
44        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
45       
46        //debugging
47        virtual const char*     getName()const {return "ConvexTrimesh";}
48       
49        virtual int     getNumVertices() const;
50        virtual int getNumEdges() const;
51        virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
52        virtual void getVertex(int i,btVector3& vtx) const;
53        virtual int     getNumPlanes() const;
54        virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
55        virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
56
57       
58        virtual void    setLocalScaling(const btVector3& scaling);
59        virtual const btVector3& getLocalScaling() const;
60
61        ///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
62        ///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia"
63        ///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the
64        ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
65        ///of the collision object by the principal transform. This method also computes the volume of the convex mesh.
66        void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const;
67
68};
69
70
71
72#endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
73
74
75
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