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_2D_SHAPE_H 17 #define BT_CONVEX_2D_SHAPE_H 18 19 #include "BulletCollision/CollisionShapes/btConvexShape.h" 20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types 21 22 ///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0. 23 ///For 2d boxes, the btBox2dShape is recommended. 24 ATTRIBUTE_ALIGNED16(class) btConvex2dShape : public btConvexShape 25 { 26 btConvexShape* m_childConvexShape; 27 28 public: 29 30 BT_DECLARE_ALIGNED_ALLOCATOR(); 31 32 btConvex2dShape( btConvexShape* convexChildShape); 33 34 virtual ~btConvex2dShape(); 35 36 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; 37 38 virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; 39 40 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; 41 42 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; 43 44 btConvexShape* getChildShape() 45 { 46 return m_childConvexShape; 47 } 48 49 const btConvexShape* getChildShape() const 50 { 51 return m_childConvexShape; 52 } 53 54 virtual const char* getName()const 55 { 56 return "Convex2dShape"; 57 } 58 59 60 61 /////////////////////////// 62 63 64 ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version 65 void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; 66 67 virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; 68 69 virtual void setLocalScaling(const btVector3& scaling) ; 70 virtual const btVector3& getLocalScaling() const ; 71 72 virtual void setMargin(btScalar margin); 73 virtual btScalar getMargin() const; 74 75 virtual int getNumPreferredPenetrationDirections() const; 76 77 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const; 78 79 80 }; 81 82 #endif //BT_CONVEX_2D_SHAPE_H 83
