Blender  V3.3
btConvexShape.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_CONVEX_SHAPE_INTERFACE1
17 #define BT_CONVEX_SHAPE_INTERFACE1
18 
19 #include "btCollisionShape.h"
20 
21 #include "LinearMath/btVector3.h"
22 #include "LinearMath/btTransform.h"
23 #include "LinearMath/btMatrix3x3.h"
24 #include "btCollisionMargin.h"
26 
27 #define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
28 
33 {
34 public:
36 
37  btConvexShape();
38 
39  virtual ~btConvexShape();
40 
41  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const = 0;
42 
44 #ifndef __SPU__
45  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const = 0;
46 #endif //#ifndef __SPU__
47 
51  void getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
52 
53  virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
54 
55  //notice that the vectors should be unit length
56  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const = 0;
57 
59  void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
60 
61  virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
62 
63  virtual void setLocalScaling(const btVector3& scaling) = 0;
64  virtual const btVector3& getLocalScaling() const = 0;
65 
66  virtual void setMargin(btScalar margin) = 0;
67 
68  virtual btScalar getMargin() const = 0;
69 
70  virtual int getNumPreferredPenetrationDirections() const = 0;
71 
72  virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const = 0;
73 };
74 
75 #endif //BT_CONVEX_SHAPE_INTERFACE1
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btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
Definition: btBox2dShape.h:71
virtual void project(const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
btScalar getMarginNonVirtual() const
virtual ~btConvexShape()
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0
Definition: btBox2dShape.h:311
virtual int getNumPreferredPenetrationDirections() const =0
Definition: btBox2dShape.h:306
virtual const btVector3 & getLocalScaling() const =0
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btConvexShape Interface
Definition: btBox2dShape.h:62
btVector3 localGetSupportVertexNonVirtual(const btVector3 &vec) const
virtual void setMargin(btScalar margin)=0
Definition: btBox2dShape.h:110
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
Definition: btBox2dShape.h:51
virtual btScalar getMargin() const =0
void getAabbNonVirtual(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void setLocalScaling(const btVector3 &scaling)=0
in case we receive negative scaling
Definition: btBox2dShape.h:120
btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3 &vec) const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
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
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