diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h | 75 |
1 files changed, 30 insertions, 45 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index b7ddb6e060..b3ffab7a23 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -20,20 +20,15 @@ subject to the following restrictions: #include "btConvexInternalShape.h" class btConvexPolyhedron; - ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. -ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape +ATTRIBUTE_ALIGNED16(class) +btPolyhedralConvexShape : public btConvexInternalShape { - - protected: - btConvexPolyhedron* m_polyhedron; public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - btPolyhedralConvexShape(); @@ -41,55 +36,49 @@ public: ///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges) ///experimental/work-in-progress - virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0); + virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin = 0); - virtual void setPolyhedralFeatures(btConvexPolyhedron& polyhedron); - + virtual void setPolyhedralFeatures(btConvexPolyhedron & polyhedron); - const btConvexPolyhedron* getConvexPolyhedron() const + const btConvexPolyhedron* getConvexPolyhedron() const { return m_polyhedron; } //brute force implementations - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - - - virtual int getNumVertices() const = 0 ; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const; + + virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const; + + virtual int getNumVertices() const = 0; virtual int getNumEdges() const = 0; - virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0; - virtual void getVertex(int i,btVector3& vtx) const = 0; - virtual int getNumPlanes() const = 0; - virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0; -// virtual int getIndex(int i) const = 0 ; - - virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0; - -}; + virtual void getEdge(int i, btVector3& pa, btVector3& pb) const = 0; + virtual void getVertex(int i, btVector3& vtx) const = 0; + virtual int getNumPlanes() const = 0; + virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const = 0; + // virtual int getIndex(int i) const = 0 ; + virtual bool isInside(const btVector3& pt, btScalar tolerance) const = 0; +}; ///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape { + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + bool m_isLocalAabbValid; - btVector3 m_localAabbMin; - btVector3 m_localAabbMax; - bool m_isLocalAabbValid; - protected: - - void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) + void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax) { m_isLocalAabbValid = true; m_localAabbMin = aabbMin; m_localAabbMax = aabbMax; } - inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const + inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const { btAssert(m_isLocalAabbValid); aabbMin = m_localAabbMin; @@ -97,25 +86,21 @@ protected: } protected: - btPolyhedralConvexAabbCachingShape(); - + public: - - inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const + inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const { - //lazy evaluation of local aabb btAssert(m_isLocalAabbValid); - btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); + btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax); } - virtual void setLocalScaling(const btVector3& scaling); - - virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + virtual void setLocalScaling(const btVector3& scaling); - void recalcLocalAabb(); + virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; + void recalcLocalAabb(); }; -#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H +#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H |