forked from bartvdbraak/blender
86 lines
2.7 KiB
C++
86 lines
2.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CONVEX_SHAPE_INTERFACE1
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#define CONVEX_SHAPE_INTERFACE1
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#include "CollisionShape.h"
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#include "SimdVector3.h"
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#include "SimdTransform.h"
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#include "SimdMatrix3x3.h"
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#include <vector>
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#include "CollisionShapes/CollisionMargin.h"
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//todo: get rid of this ConvexCastResult thing!
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struct ConvexCastResult;
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/// ConvexShape is an abstract shape interface.
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/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
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/// used in combination with GJK or ConvexCast
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class ConvexShape : public CollisionShape
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{
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public:
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ConvexShape();
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virtual ~ConvexShape();
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virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const= 0;
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//notice that the vectors should be unit length
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virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const= 0;
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// testing for hullnode code
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///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
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void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
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{
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GetAabbSlow(t,aabbMin,aabbMax);
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}
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virtual void GetAabbSlow(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
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virtual void setLocalScaling(const SimdVector3& scaling);
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virtual const SimdVector3& getLocalScaling() const
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{
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return m_localScaling;
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}
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virtual void SetMargin(float margin)
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{
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m_collisionMargin = margin;
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}
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virtual float GetMargin() const
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{
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return m_collisionMargin;
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}
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private:
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SimdScalar m_collisionMargin;
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//local scaling. collisionMargin is not scaled !
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protected:
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SimdVector3 m_localScaling;
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};
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#endif //CONVEX_SHAPE_INTERFACE1
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