forked from bartvdbraak/blender
9119b6e8a5
'Bullet/CollisionShapes/ConvexTriangleCallback.cpp', 'Bullet/CollisionShapes/EmptyShape.cpp', 'Bullet/CollisionShapes/OptimizedBvh.cpp', 'Bullet/CollisionShapes/TriangleCallback.cpp', 'Bullet/CollisionShapes/TriangleIndexVertexArray.cpp', 'Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp'. Sorry, no armatures fix yet.
79 lines
2.0 KiB
C++
79 lines
2.0 KiB
C++
/*
|
|
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
*
|
|
* Permission to use, copy, modify, distribute and sell this software
|
|
* and its documentation for any purpose is hereby granted without fee,
|
|
* provided that the above copyright notice appear in all copies.
|
|
* Erwin Coumans makes no representations about the suitability
|
|
* of this software for any purpose.
|
|
* It is provided "as is" without express or implied warranty.
|
|
*/
|
|
|
|
#ifndef CONVEX_SHAPE_INTERFACE1
|
|
#define CONVEX_SHAPE_INTERFACE1
|
|
|
|
#include "CollisionShape.h"
|
|
|
|
#include "SimdVector3.h"
|
|
#include "SimdTransform.h"
|
|
#include "SimdMatrix3x3.h"
|
|
#include <vector>
|
|
#include "CollisionShapes/CollisionMargin.h"
|
|
|
|
//todo: get rid of this ConvexCastResult thing!
|
|
struct ConvexCastResult;
|
|
|
|
|
|
/// ConvexShape is an abstract shape interface.
|
|
/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
|
|
/// used in combination with GJK or ConvexCast
|
|
class ConvexShape : public CollisionShape
|
|
{
|
|
public:
|
|
ConvexShape();
|
|
|
|
virtual ~ConvexShape();
|
|
|
|
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
|
|
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const= 0;
|
|
|
|
// testing for hullnode code
|
|
|
|
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
|
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
|
{
|
|
GetAabbSlow(t,aabbMin,aabbMax);
|
|
}
|
|
|
|
|
|
|
|
virtual void GetAabbSlow(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
|
|
|
|
|
|
virtual void setLocalScaling(const SimdVector3& scaling);
|
|
virtual const SimdVector3& getLocalScaling() const
|
|
{
|
|
return m_localScaling;
|
|
}
|
|
|
|
|
|
virtual void SetMargin(float margin)
|
|
{
|
|
m_collisionMargin = margin;
|
|
}
|
|
virtual float GetMargin() const
|
|
{
|
|
return m_collisionMargin;
|
|
}
|
|
private:
|
|
SimdScalar m_collisionMargin;
|
|
//local scaling. collisionMargin is not scaled !
|
|
protected:
|
|
SimdVector3 m_localScaling;
|
|
|
|
};
|
|
|
|
|
|
|
|
#endif //CONVEX_SHAPE_INTERFACE1
|