Blender  V3.3
btPolyhedralConvexShape.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
17 #define BT_POLYHEDRAL_CONVEX_SHAPE_H
18 
19 #include "LinearMath/btMatrix3x3.h"
20 #include "btConvexInternalShape.h"
21 class btConvexPolyhedron;
22 
26 {
27 protected:
28  btConvexPolyhedron* m_polyhedron;
29 
30 public:
32 
34 
35  virtual ~btPolyhedralConvexShape();
36 
39  virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin = 0);
40 
41  virtual void setPolyhedralFeatures(btConvexPolyhedron & polyhedron);
42 
44  {
45  return m_polyhedron;
46  }
47 
48  //brute force implementations
49 
51  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
52 
53  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
54 
55  virtual int getNumVertices() const = 0;
56  virtual int getNumEdges() const = 0;
57  virtual void getEdge(int i, btVector3& pa, btVector3& pb) const = 0;
58  virtual void getVertex(int i, btVector3& vtx) const = 0;
59  virtual int getNumPlanes() const = 0;
60  virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const = 0;
61  // virtual int getIndex(int i) const = 0 ;
62 
63  virtual bool isInside(const btVector3& pt, btScalar tolerance) const = 0;
64 };
65 
68 {
69  btVector3 m_localAabbMin;
70  btVector3 m_localAabbMax;
71  bool m_isLocalAabbValid;
72 
73 protected:
74  void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
75  {
76  m_isLocalAabbValid = true;
77  m_localAabbMin = aabbMin;
78  m_localAabbMax = aabbMax;
79  }
80 
81  inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
82  {
83  btAssert(m_isLocalAabbValid);
84  aabbMin = m_localAabbMin;
85  aabbMax = m_localAabbMax;
86  }
87 
88 protected:
90 
91 public:
92  inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
93  {
94  //lazy evaluation of local aabb
95  btAssert(m_isLocalAabbValid);
96  btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
97  }
98 
99  virtual void setLocalScaling(const btVector3& scaling);
100 
101  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
102 
103  void recalcLocalAabb();
104 };
105 
106 #endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
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SIMD_FORCE_INLINE void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btVector3 m_localAabbMin
btVector3 m_localAabbMax
btConvexInternalShape()
btConvexPolyhedron
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const =0
Definition: btBox2dShape.h:284
BT_DECLARE_ALIGNED_ALLOCATOR()
btPolyhedralConvexShape()
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
Definition: btBox2dShape.h:62
virtual ~btPolyhedralConvexShape()
virtual int getNumEdges() const =0
Definition: btBox2dShape.h:174
virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0)
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const =0
Definition: btBox2dShape.h:155
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const =0
Definition: btBox2dShape.h:218
virtual int getNumVertices() const =0
Definition: btBox2dShape.h:140
virtual void getVertex(int i, btVector3 &vtx) const =0
Definition: btBox2dShape.h:179
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
CollisionShape Interface.
Definition: btConeShape.h:54
const btConvexPolyhedron * getConvexPolyhedron() const
virtual void setPolyhedralFeatures(btConvexPolyhedron &polyhedron)
virtual int getNumPlanes() const =0
Definition: btBox2dShape.h:169
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBox2dShape.h:71
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
#define btAssert(x)
Definition: btScalar.h:295
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void setLocalScaling(const btVector3 &scaling)
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const