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

Bullet Collision Detection & Physics Library

btShapeHull.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
17
18 #ifndef BT_SHAPE_HULL_H
19 #define BT_SHAPE_HULL_H
20
21 #include "LinearMath/btAlignedObjectArray.h"
22 #include "BulletCollision/CollisionShapes/btConvexShape.h"
23
27 ATTRIBUTE_ALIGNED16(class)
28 btShapeHull
29 {
30 protected:
31 btAlignedObjectArray<btVector3> m_vertices;
32 btAlignedObjectArray<unsigned int> m_indices;
33 unsigned int m_numIndices;
34 const btConvexShape* m_shape;
35
36 static btVector3* getUnitSpherePoints(int highres = 0);
37
38 public:
39 BT_DECLARE_ALIGNED_ALLOCATOR();
40
41 btShapeHull(const btConvexShape* shape);
42 ~btShapeHull();
43
44 bool buildHull(btScalar margin, int highres = 0);
45
46 int numTriangles() const;
47 int numVertices() const;
48 int numIndices() const;
49
50 const btVector3* getVertexPointer() const
51 {
52 return &m_vertices[0];
53 }
54 const unsigned int* getIndexPointer() const
55 {
56 return &m_indices[0];
57 }
58 };
59
60 #endif //BT_SHAPE_HULL_H
btAlignedObjectArray.h
btConvexShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btAlignedObjectArray< btVector3 >
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btShapeHull
btShapeHull implemented by John McCutchan.
Definition: btShapeHull.h:29
btShapeHull::getIndexPointer
const unsigned int * getIndexPointer() const
Definition: btShapeHull.h:54
btShapeHull::m_vertices
btAlignedObjectArray< btVector3 > m_vertices
Definition: btShapeHull.h:31
btShapeHull::m_numIndices
unsigned int m_numIndices
Definition: btShapeHull.h:33
btShapeHull::m_indices
btAlignedObjectArray< unsigned int > m_indices
Definition: btShapeHull.h:32
btShapeHull::m_shape
const btConvexShape * m_shape
Definition: btShapeHull.h:34
btShapeHull::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btShapeHull::getVertexPointer
const btVector3 * getVertexPointer() const
Definition: btShapeHull.h:50
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82