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" 25 #include "LinearMath/btAlignedAllocator.h" 26 27 #define MAX_PREFERRED_PENETRATION_DIRECTIONS 10 28 29 /// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc. 30 /// It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector. 31 ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape 32 { 33 34 35 public: 36 37 BT_DECLARE_ALIGNED_ALLOCATOR(); 38 39 btConvexShape (); 40 41 virtual ~btConvexShape(); 42 43 virtual btVector3 localGetSupportingVertex(const btVector3& vec)const = 0; 44 45 //////// 46 #ifndef __SPU__ 47 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0; 48 #endif //#ifndef __SPU__ 49 50 btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const; 51 btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const; 52 btScalar getMarginNonVirtual () const; 53 void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; 54 55 56 virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; 57 58 59 //notice that the vectors should be unit length 60 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0; 61 62 ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version 63 void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; 64 65 virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; 66 67 virtual void setLocalScaling(const btVector3& scaling) =0; 68 virtual const btVector3& getLocalScaling() const =0; 69 70 virtual void setMargin(btScalar margin)=0; 71 72 virtual btScalar getMargin() const=0; 73 74 virtual int getNumPreferredPenetrationDirections() const=0; 75 76 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0; 77 78 79 80 81 }; 82 83 84 85 #endif //BT_CONVEX_SHAPE_INTERFACE1 86
