| 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_SIMPLEX_1TO4_SHAPE |
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| 17 | #define BT_SIMPLEX_1TO4_SHAPE |
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| 18 | |
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| 19 | |
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| 20 | #include "btPolyhedralConvexShape.h" |
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| 21 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
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| 22 | |
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| 23 | |
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| 24 | ///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead. |
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| 25 | class btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape |
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| 26 | { |
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| 27 | protected: |
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| 28 | |
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| 29 | int m_numVertices; |
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| 30 | btVector3 m_vertices[4]; |
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| 31 | |
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| 32 | public: |
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| 33 | btBU_Simplex1to4(); |
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| 34 | |
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| 35 | btBU_Simplex1to4(const btVector3& pt0); |
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| 36 | btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1); |
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| 37 | btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2); |
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| 38 | btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3); |
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| 39 | |
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| 40 | |
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| 41 | void reset() |
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| 42 | { |
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| 43 | m_numVertices = 0; |
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| 44 | } |
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| 45 | |
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| 46 | virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
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| 47 | |
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| 48 | void addVertex(const btVector3& pt); |
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| 49 | |
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| 50 | //PolyhedralConvexShape interface |
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| 51 | |
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| 52 | virtual int getNumVertices() const; |
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| 53 | |
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| 54 | virtual int getNumEdges() const; |
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| 55 | |
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| 56 | virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; |
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| 57 | |
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| 58 | virtual void getVertex(int i,btVector3& vtx) const; |
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| 59 | |
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| 60 | virtual int getNumPlanes() const; |
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| 61 | |
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| 62 | virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const; |
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| 63 | |
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| 64 | virtual int getIndex(int i) const; |
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| 65 | |
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| 66 | virtual bool isInside(const btVector3& pt,btScalar tolerance) const; |
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| 67 | |
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| 68 | |
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| 69 | ///getName is for debugging |
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| 70 | virtual const char* getName()const { return "btBU_Simplex1to4";} |
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| 71 | |
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| 72 | }; |
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| 73 | |
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| 74 | #endif //BT_SIMPLEX_1TO4_SHAPE |
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