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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 
     23 
     24 ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
     25 ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
     26 {
     27 
     28 
     29 protected:
     30 
     31 	btConvexPolyhedron* m_polyhedron;
     32 
     33 public:
     34 
     35 	BT_DECLARE_ALIGNED_ALLOCATOR();
     36 
     37 
     38 	btPolyhedralConvexShape();
     39 
     40 	virtual ~btPolyhedralConvexShape();
     41 
     42 	///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
     43 	///experimental/work-in-progress
     44 	virtual bool	initializePolyhedralFeatures(int shiftVerticesByMargin=0);
     45 
     46 	const btConvexPolyhedron*	getConvexPolyhedron() const
     47 	{
     48 		return m_polyhedron;
     49 	}
     50 
     51 	//brute force implementations
     52 
     53 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
     54 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
     55 
     56 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
     57 
     58 
     59 	virtual int	getNumVertices() const = 0 ;
     60 	virtual int getNumEdges() const = 0;
     61 	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
     62 	virtual void getVertex(int i,btVector3& vtx) const = 0;
     63 	virtual int	getNumPlanes() const = 0;
     64 	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
     65 //	virtual int getIndex(int i) const = 0 ;
     66 
     67 	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
     68 
     69 };
     70 
     71 
     72 ///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
     73 class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
     74 {
     75 
     76 	btVector3	m_localAabbMin;
     77 	btVector3	m_localAabbMax;
     78 	bool		m_isLocalAabbValid;
     79 
     80 protected:
     81 
     82 	void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
     83 	{
     84 		m_isLocalAabbValid = true;
     85 		m_localAabbMin = aabbMin;
     86 		m_localAabbMax = aabbMax;
     87 	}
     88 
     89 	inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
     90 	{
     91 		btAssert(m_isLocalAabbValid);
     92 		aabbMin = m_localAabbMin;
     93 		aabbMax = m_localAabbMax;
     94 	}
     95 
     96 public:
     97 
     98 	btPolyhedralConvexAabbCachingShape();
     99 
    100 	inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
    101 	{
    102 
    103 		//lazy evaluation of local aabb
    104 		btAssert(m_isLocalAabbValid);
    105 		btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
    106 	}
    107 
    108 	virtual void	setLocalScaling(const btVector3& scaling);
    109 
    110 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
    111 
    112 	void	recalcLocalAabb();
    113 
    114 };
    115 
    116 #endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
    117