Bullet Collision Detection & Physics Library
btConvexHullShape.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:
10 
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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_CONVEX_HULL_SHAPE_H
17 #define BT_CONVEX_HULL_SHAPE_H
18 
22 
27 {
29 
30 public:
32 
36  btConvexHullShape(const btScalar* points = 0, int numPoints = 0, int stride = sizeof(btVector3));
37 
38  void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
39 
41  {
42  return &m_unscaledPoints[0];
43  }
44 
46  {
47  return &m_unscaledPoints[0];
48  }
49 
51  const btVector3* getPoints() const
52  {
53  return getUnscaledPoints();
54  }
55 
56  void optimizeConvexHull();
57 
59  {
60  return m_unscaledPoints[i] * m_localScaling;
61  }
62 
64  {
65  return m_unscaledPoints.size();
66  }
67 
68  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
69  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
70  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
71 
72  virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
73 
74  //debugging
75  virtual const char* getName() const { return "Convex"; }
76 
77  virtual int getNumVertices() const;
78  virtual int getNumEdges() const;
79  virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
80  virtual void getVertex(int i, btVector3& vtx) const;
81  virtual int getNumPlanes() const;
82  virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
83  virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
84 
86  virtual void setLocalScaling(const btVector3& scaling);
87 
88  virtual int calculateSerializeBufferSize() const;
89 
91  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
92 };
93 
94 // clang-format off
95 
98 {
100 
103 
105  char m_padding3[4];
106 
107 };
108 
109 // clang-format on
110 
112 {
113  return sizeof(btConvexHullShapeData);
114 }
115 
116 #endif //BT_CONVEX_HULL_SHAPE_H
btConvexHullShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btConvexHullShape.h:111
btConvexHullShape::getUnscaledPoints
const btVector3 * getUnscaledPoints() const
Definition: btConvexHullShape.h:45
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btConvexHullShapeData::m_unscaledPointsFloatPtr
btVector3FloatData * m_unscaledPointsFloatPtr
Definition: btConvexHullShape.h:101
btConvexHullShape::getNumPoints
int getNumPoints() const
Definition: btConvexHullShape.h:63
btConvexHullShape::m_unscaledPoints
btAlignedObjectArray< btVector3 > m_unscaledPoints
Definition: btConvexHullShape.h:28
btConvexHullShape::getUnscaledPoints
btVector3 * getUnscaledPoints()
Definition: btConvexHullShape.h:40
btConvexHullShape::getPoints
const btVector3 * getPoints() const
getPoints is obsolete, please use getUnscaledPoints
Definition: btConvexHullShape.h:51
btVector3FloatData
Definition: btVector3.h:1281
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:67
btVector3DoubleData
Definition: btVector3.h:1286
btConvexHullShape::getScaledPoint
btVector3 getScaledPoint(int i) const
Definition: btConvexHullShape.h:58
btConvexHullShapeData::m_padding3
char m_padding3[4]
Definition: btConvexHullShape.h:105
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btConvexHullShapeData::m_numUnscaledPoints
int m_numUnscaledPoints
Definition: btConvexHullShape.h:104
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
btConvexHullShape::getName
virtual const char * getName() const
Definition: btConvexHullShape.h:75
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConvexInternalShape.h:135
btConvexHullShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConvexHullShape.h:97
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btAlignedObjectArray< btVector3 >
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btBroadphaseProxy.h
btSerializer
Definition: btSerializer.h:65
btConvexHullShape
The btConvexHullShape implements an implicit convex hull of an array of vertices.
Definition: btConvexHullShape.h:25
btConvexHullShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btConvexHullShape.h:99
btConvexHullShapeData::m_unscaledPointsDoublePtr
btVector3DoubleData * m_unscaledPointsDoublePtr
Definition: btConvexHullShape.h:102
addPoint
static void addPoint(unsigned int &vcount, btVector3 *p, btScalar x, btScalar y, btScalar z)
Definition: btConvexHull.cpp:802
btAlignedObjectArray.h
btPolyhedralConvexShape.h
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:149