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

Bullet Collision Detection & Physics Library

btTriangleMeshShape.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_TRIANGLE_MESH_SHAPE_H
17 #define BT_TRIANGLE_MESH_SHAPE_H
18
19 #include "btConcaveShape.h"
20 #include "btStridingMeshInterface.h"
21
22
24 ATTRIBUTE_ALIGNED16(class) btTriangleMeshShape : public btConcaveShape
25 {
26 protected:
27 btVector3 m_localAabbMin;
28 btVector3 m_localAabbMax;
29 btStridingMeshInterface* m_meshInterface;
30
33 btTriangleMeshShape(btStridingMeshInterface* meshInterface);
34
35 public:
36 BT_DECLARE_ALIGNED_ALLOCATOR();
37
38 virtual ~btTriangleMeshShape();
39
40 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
41
42 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
43 {
44 btAssert(0);
45 return localGetSupportingVertex(vec);
46 }
47
48 void recalcLocalAabb();
49
50 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
51
52 virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
53
54 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
55
56 virtual void setLocalScaling(const btVector3& scaling);
57 virtual const btVector3& getLocalScaling() const;
58
59 btStridingMeshInterface* getMeshInterface()
60 {
61 return m_meshInterface;
62 }
63
64 const btStridingMeshInterface* getMeshInterface() const
65 {
66 return m_meshInterface;
67 }
68
69 const btVector3& getLocalAabbMin() const
70 {
71 return m_localAabbMin;
72 }
73 const btVector3& getLocalAabbMax() const
74 {
75 return m_localAabbMax;
76 }
77
78
79
80 //debugging
81 virtual const char* getName()const {return "TRIANGLEMESH";}
82
83
84
85 };
86
87
88
89
90 #endif //BT_TRIANGLE_MESH_SHAPE_H
btTriangleMeshShape::m_meshInterface
btStridingMeshInterface * m_meshInterface
Definition: btTriangleMeshShape.h:29
btTriangleMeshShape::getLocalAabbMin
const btVector3 & getLocalAabbMin() const
Definition: btTriangleMeshShape.h:69
btAssert
#define btAssert(x)
Definition: btScalar.h:131
btStridingMeshInterface.h
btConcaveShape.h
btTriangleMeshShape
The btTriangleMeshShape is an internal concave triangle mesh interface. Don&#39;t use this class directly...
Definition: btTriangleMeshShape.h:24
btTriangleMeshShape::getMeshInterface
const btStridingMeshInterface * getMeshInterface() const
Definition: btTriangleMeshShape.h:64
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:24
btTriangleMeshShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btTriangleMeshShape.h:28
btTriangleMeshShape::getLocalAabbMax
const btVector3 & getLocalAabbMax() const
Definition: btTriangleMeshShape.h:73
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btTriangleMeshShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btTriangleMeshShape.h:27
btStridingMeshInterface
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
Definition: btStridingMeshInterface.h:30
btConcaveShape
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
Definition: btConcaveShape.h:36
btTriangleMeshShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btTriangleMeshShape.h:42
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
btTriangleMeshShape::getMeshInterface
btStridingMeshInterface * getMeshInterface()
Definition: btTriangleMeshShape.h:59
btTriangleMeshShape::getName
virtual const char * getName() const
Definition: btTriangleMeshShape.h:81
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292