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

Bullet Collision Detection & Physics Library

btConvexTriangleMeshShape.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 #ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
16 #define BT_CONVEX_TRIANGLEMESH_SHAPE_H
17
18
19 #include "btPolyhedralConvexShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
22
25 ATTRIBUTE_ALIGNED16(class) btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
26 {
27
28 class btStridingMeshInterface* m_stridingMesh;
29
30 public:
31 BT_DECLARE_ALIGNED_ALLOCATOR();
32
33 btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
34
35 class btStridingMeshInterface* getMeshInterface()
36 {
37 return m_stridingMesh;
38 }
39 const class btStridingMeshInterface* getMeshInterface() const
40 {
41 return m_stridingMesh;
42 }
43
44 virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
45 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
46 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
47
48 //debugging
49 virtual const char* getName()const {return "ConvexTrimesh";}
50
51 virtual int getNumVertices() const;
52 virtual int getNumEdges() const;
53 virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
54 virtual void getVertex(int i,btVector3& vtx) const;
55 virtual int getNumPlanes() const;
56 virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
57 virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
58
59
60 virtual void setLocalScaling(const btVector3& scaling);
61 virtual const btVector3& getLocalScaling() const;
62
68 void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const;
69
70 };
71
72
73
74 #endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
75
76
77
btConvexTriangleMeshShape
The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good...
Definition: btConvexTriangleMeshShape.h:25
btConvexTriangleMeshShape::getMeshInterface
const class btStridingMeshInterface * getMeshInterface() const
Definition: btConvexTriangleMeshShape.h:39
btConvexTriangleMeshShape::m_stridingMesh
class btStridingMeshInterface * m_stridingMesh
Definition: btConvexTriangleMeshShape.h:28
btBroadphaseProxy.h
btConvexTriangleMeshShape::getName
virtual const char * getName() const
Definition: btConvexTriangleMeshShape.h:49
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
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:73
btStridingMeshInterface
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
Definition: btStridingMeshInterface.h:30
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
btConvexTriangleMeshShape::getMeshInterface
class btStridingMeshInterface * getMeshInterface()
Definition: btConvexTriangleMeshShape.h:35
btPolyhedralConvexShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292