forked from bartvdbraak/blender
56 lines
2.2 KiB
C++
56 lines
2.2 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 BU_SHAPE
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#define BU_SHAPE
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#include <SimdPoint3.h>
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#include <SimdMatrix3x3.h>
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#include <CollisionShapes/ConvexShape.h>
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///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes.
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class PolyhedralConvexShape : public ConvexShape
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{
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public:
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PolyhedralConvexShape();
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//brute force implementations
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
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virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
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virtual int GetNumVertices() const = 0 ;
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virtual int GetNumEdges() const = 0;
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virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const = 0;
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virtual void GetVertex(int i,SimdPoint3& vtx) const = 0;
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virtual int GetNumPlanes() const = 0;
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virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const = 0;
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// virtual int GetIndex(int i) const = 0 ;
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virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const = 0;
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/// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
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class Hull* m_optionalHull;
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};
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#endif //BU_SHAPE
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