Blender  V3.3
btConvexTriangleMeshShape.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:
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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.
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 #ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
16 #define BT_CONVEX_TRIANGLEMESH_SHAPE_H
17 
20 
25 {
26  class btStridingMeshInterface* m_stridingMesh;
27 
28 public:
30 
31  btConvexTriangleMeshShape(btStridingMeshInterface * meshInterface, bool calcAabb = true);
32 
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;
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  virtual void setLocalScaling(const btVector3& scaling);
58  virtual const btVector3& getLocalScaling() const;
59 
65  void calculatePrincipalAxisTransform(btTransform & principal, btVector3 & inertia, btScalar & volume) const;
66 };
67 
68 #endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
virtual void setLocalScaling(const btVector3 &scaling)
in case we receive negative scaling
Definition: btBox2dShape.h:120
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
Definition: btBox2dShape.h:62
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
Definition: btBox2dShape.h:284
virtual const char * getName() const
btConvexTriangleMeshShape(btStridingMeshInterface *meshInterface, bool calcAabb=true)
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btBox2dShape.h:51
virtual int getNumVertices() const
Definition: btBox2dShape.h:140
class btStridingMeshInterface * getMeshInterface()
void calculatePrincipalAxisTransform(btTransform &principal, btVector3 &inertia, btScalar &volume) const
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
Definition: btBox2dShape.h:218
virtual int getNumPlanes() const
Definition: btBox2dShape.h:169
virtual void getVertex(int i, btVector3 &vtx) const
Definition: btBox2dShape.h:179
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
Definition: btBox2dShape.h:155
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBox2dShape.h:71
virtual const btVector3 & getLocalScaling() const
virtual int getNumEdges() const
Definition: btBox2dShape.h:174
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
btStridingMeshInterface
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.