forked from bartvdbraak/blender
59 lines
2.0 KiB
C
59 lines
2.0 KiB
C
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/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef CONVEX_HULL_SHAPE_H
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#define CONVEX_HULL_SHAPE_H
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#include "PolyhedralConvexShape.h"
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#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
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#include <vector>
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///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
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///No connectivity is needed. LocalGetSupportingVertex iterates linearly though all vertices.
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///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
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///(memory is much slower then the cpu)
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class ConvexHullShape : public PolyhedralConvexShape
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{
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std::vector<SimdPoint3> m_points;
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public:
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ConvexHullShape(SimdPoint3* points,int numPoints);
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void AddPoint(const SimdPoint3& point)
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{
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m_points.push_back(point);
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}
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virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
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virtual int GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
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//debugging
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virtual char* GetName()const {return "Convex";}
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virtual int GetNumVertices() const;
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virtual int GetNumEdges() const;
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virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
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virtual void GetVertex(int i,SimdPoint3& vtx) const;
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virtual int GetNumPlanes() const;
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virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
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virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
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};
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#endif //CONVEX_HULL_SHAPE_H
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