Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h (modified) (6 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

@@ -1 +1 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
@@ -18 +18 @@
 
 #include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btAabbUtil2.h"
 #include "btConvexInternalShape.h"
 
@@ -27 +26 @@
 
 protected:
-        btVector3       m_localAabbMin;
-        btVector3       m_localAabbMax;
-        bool            m_isLocalAabbValid;
-
+        
 public:
 
@@ -39 +35 @@
         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
         virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-
         
         virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+        
+        
+        virtual int     getNumVertices() const = 0 ;
+        virtual int getNumEdges() const = 0;
+        virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
+        virtual void getVertex(int i,btVector3& vtx) const = 0;
+        virtual int     getNumPlanes() const = 0;
+        virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
+//      virtual int getIndex(int i) const = 0 ; 
 
+        virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
+        
+};
+
+
+///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
+class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
+{
+
+        btVector3       m_localAabbMin;
+        btVector3       m_localAabbMax;
+        bool            m_isLocalAabbValid;
+                
+protected:
 
         void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
@@ -58 +76 @@
         }
 
+public:
+
+        btPolyhedralConvexAabbCachingShape();
+        
         inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
         {
@@ -66 +88 @@
         }
 
-        
+        virtual void    setLocalScaling(const btVector3& scaling);
+
         virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
-        virtual void    setLocalScaling(const btVector3& scaling);
-
         void    recalcLocalAabb();
-
-        virtual int     getNumVertices() const = 0 ;
-        virtual int getNumEdges() const = 0;
-        virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
-        virtual void getVertex(int i,btVector3& vtx) const = 0;
-        virtual int     getNumPlanes() const = 0;
-        virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
-//      virtual int getIndex(int i) const = 0 ; 
-
-        virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
-        
-        /// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
-        class   Hull*   m_optionalHull;
 
 };