forked from bartvdbraak/blender
75 lines
1.9 KiB
C++
75 lines
1.9 KiB
C++
/*
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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_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 "NarrowPhaseCollision/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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// 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 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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