Bullet Collision Detection & Physics Library
btPolyhedralConvexShape.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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11 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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15 
16 #ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
17 #define BT_POLYHEDRAL_CONVEX_SHAPE_H
18 
19 #include "LinearMath/btMatrix3x3.h"
20 #include "btConvexInternalShape.h"
21 class btConvexPolyhedron;
22 
26 {
27 protected:
29 
30 public:
32 
34 
35  virtual ~btPolyhedralConvexShape();
36 
39  virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin = 0);
40 
41  virtual void setPolyhedralFeatures(btConvexPolyhedron & polyhedron);
42 
44  {
45  return m_polyhedron;
46  }
47 
48  //brute force implementations
49 
50  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
51  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
52 
53  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
54 
55  virtual int getNumVertices() const = 0;
56  virtual int getNumEdges() const = 0;
57  virtual void getEdge(int i, btVector3& pa, btVector3& pb) const = 0;
58  virtual void getVertex(int i, btVector3& vtx) const = 0;
59  virtual int getNumPlanes() const = 0;
60  virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const = 0;
61  // virtual int getIndex(int i) const = 0 ;
62 
63  virtual bool isInside(const btVector3& pt, btScalar tolerance) const = 0;
64 };
65 
68 {
72 
73 protected:
74  void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
75  {
76  m_isLocalAabbValid = true;
77  m_localAabbMin = aabbMin;
78  m_localAabbMax = aabbMax;
79  }
80 
81  inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
82  {
84  aabbMin = m_localAabbMin;
85  aabbMax = m_localAabbMax;
86  }
87 
88 protected:
90 
91 public:
92  inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
93  {
94  //lazy evaluation of local aabb
96  btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
97  }
98 
99  virtual void setLocalScaling(const btVector3& scaling);
100 
101  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
102 
103  void recalcLocalAabb();
104 };
105 
106 #endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
btPolyhedralConvexShape
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
Definition: btPolyhedralConvexShape.h:24
btConvexInternalShape.h
btPolyhedralConvexAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition: btPolyhedralConvexShape.h:92
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:28
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btPolyhedralConvexAabbCachingShape::setCachedLocalAabb
void setCachedLocalAabb(const btVector3 &aabbMin, const btVector3 &aabbMax)
Definition: btPolyhedralConvexShape.h:74
btMatrix3x3.h
btAssert
#define btAssert(x)
Definition: btScalar.h:133
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:67
btPolyhedralConvexAabbCachingShape::m_isLocalAabbValid
bool m_isLocalAabbValid
Definition: btPolyhedralConvexShape.h:71
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btPolyhedralConvexAabbCachingShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btPolyhedralConvexShape.h:70
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btPolyhedralConvexAabbCachingShape::getCachedLocalAabb
void getCachedLocalAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btPolyhedralConvexShape.h:81
btPolyhedralConvexAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition: btPolyhedralConvexShape.cpp:505
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btPolyhedralConvexShape::m_polyhedron
btConvexPolyhedron * m_polyhedron
Definition: btPolyhedralConvexShape.h:28
btConvexPolyhedron
Definition: btConvexPolyhedron.h:33
btPolyhedralConvexAabbCachingShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btPolyhedralConvexShape.cpp:500
btPolyhedralConvexAabbCachingShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btPolyhedralConvexShape.h:69
btPolyhedralConvexAabbCachingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btPolyhedralConvexShape.cpp:486
btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape
btPolyhedralConvexAabbCachingShape()
Definition: btPolyhedralConvexShape.cpp:492
btPolyhedralConvexShape::getConvexPolyhedron
const btConvexPolyhedron * getConvexPolyhedron() const
Definition: btPolyhedralConvexShape.h:43