106 lines
3.4 KiB
C++
106 lines
3.4 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CONVEX_POINT_CLOUD_SHAPE_H
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#define BT_CONVEX_POINT_CLOUD_SHAPE_H
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#include "btPolyhedralConvexShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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#include "LinearMath/btAlignedObjectArray.h"
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///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
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ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
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{
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btVector3* m_unscaledPoints;
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int m_numPoints;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btConvexPointCloudShape()
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{
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m_localScaling.setValue(1.f,1.f,1.f);
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m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
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m_unscaledPoints = 0;
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m_numPoints = 0;
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}
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btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
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{
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m_localScaling = localScaling;
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m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
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m_unscaledPoints = points;
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m_numPoints = numPoints;
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if (computeAabb)
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recalcLocalAabb();
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}
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void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f))
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{
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m_unscaledPoints = points;
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m_numPoints = numPoints;
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m_localScaling = localScaling;
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if (computeAabb)
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recalcLocalAabb();
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}
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SIMD_FORCE_INLINE btVector3* getUnscaledPoints()
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{
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return m_unscaledPoints;
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}
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SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const
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{
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return m_unscaledPoints;
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}
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SIMD_FORCE_INLINE int getNumPoints() const
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{
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return m_numPoints;
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}
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SIMD_FORCE_INLINE btVector3 getScaledPoint( int index) const
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{
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return m_unscaledPoints[index] * m_localScaling;
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}
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#ifndef __SPU__
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virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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#endif
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//debugging
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virtual const char* getName()const {return "ConvexPointCloud";}
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virtual int getNumVertices() const;
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virtual int getNumEdges() const;
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virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
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virtual void getVertex(int i,btVector3& vtx) const;
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virtual int getNumPlanes() const;
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virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
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virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
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///in case we receive negative scaling
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virtual void setLocalScaling(const btVector3& scaling);
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};
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#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
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