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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h | 118 |
1 files changed, 0 insertions, 118 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h deleted file mode 100644 index 7bf8e01c1f..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ /dev/null @@ -1,118 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H -#define BT_POLYHEDRAL_CONVEX_SHAPE_H - -#include "LinearMath/btMatrix3x3.h" -#include "btConvexInternalShape.h" -class btConvexPolyhedron; - - -///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. -ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape -{ - - -protected: - - btConvexPolyhedron* m_polyhedron; - -public: - - BT_DECLARE_ALIGNED_ALLOCATOR(); - - - btPolyhedralConvexShape(); - - virtual ~btPolyhedralConvexShape(); - - ///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); - - 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 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; - -}; - - -///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape -class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape -{ - - btVector3 m_localAabbMin; - btVector3 m_localAabbMax; - bool m_isLocalAabbValid; - -protected: - - 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 - { - btAssert(m_isLocalAabbValid); - aabbMin = m_localAabbMin; - aabbMax = m_localAabbMax; - } - -protected: - - btPolyhedralConvexAabbCachingShape(); - -public: - - 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); - } - - virtual void setLocalScaling(const btVector3& scaling); - - virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; - - void recalcLocalAabb(); - -}; - -#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H |