Bullet Collision Detection & Physics Library: btTetrahedronShape.h Source File

Bullet Collision Detection & Physics Library

btTetrahedronShape.h
Go to the documentation of this file.
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_SIMPLEX_1TO4_SHAPE
17 #define BT_SIMPLEX_1TO4_SHAPE
18
19
20 #include "btPolyhedralConvexShape.h"
21 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
22
23
25 ATTRIBUTE_ALIGNED16(class) btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
26 {
27 protected:
28
29 int m_numVertices;
30 btVector3 m_vertices[4];
31
32 public:
33 BT_DECLARE_ALIGNED_ALLOCATOR();
34
35 btBU_Simplex1to4();
36
37 btBU_Simplex1to4(const btVector3& pt0);
38 btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1);
39 btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2);
40 btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3);
41
42
43 void reset()
44 {
45 m_numVertices = 0;
46 }
47
48 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
49
50 void addVertex(const btVector3& pt);
51
52 //PolyhedralConvexShape interface
53
54 virtual int getNumVertices() const;
55
56 virtual int getNumEdges() const;
57
58 virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
59
60 virtual void getVertex(int i,btVector3& vtx) const;
61
62 virtual int getNumPlanes() const;
63
64 virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const;
65
66 virtual int getIndex(int i) const;
67
68 virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
69
70
72 virtual const char* getName()const { return "btBU_Simplex1to4";}
73
74 };
75
76 #endif //BT_SIMPLEX_1TO4_SHAPE
btBU_Simplex1to4::reset
void reset()
Definition: btTetrahedronShape.h:43
btBU_Simplex1to4::m_numVertices
int m_numVertices
Definition: btTetrahedronShape.h:29
btBU_Simplex1to4
The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
Definition: btTetrahedronShape.h:25
btBroadphaseProxy.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:65
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:73
btBU_Simplex1to4::getName
virtual const char * getName() const
getName is for debugging
Definition: btTetrahedronShape.h:72
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:389
btPolyhedralConvexShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279