61 lines
2.1 KiB
C++
61 lines
2.1 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
///btShapeHull implemented by John McCutchan.
|
|
|
|
#ifndef BT_SHAPE_HULL_H
|
|
#define BT_SHAPE_HULL_H
|
|
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
|
|
|
///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
|
|
///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
|
|
///It approximates the convex hull using the supporting vertex of 42 directions.
|
|
ATTRIBUTE_ALIGNED16(class)
|
|
btShapeHull
|
|
{
|
|
protected:
|
|
btAlignedObjectArray<btVector3> m_vertices;
|
|
btAlignedObjectArray<unsigned int> m_indices;
|
|
unsigned int m_numIndices;
|
|
const btConvexShape* m_shape;
|
|
|
|
static btVector3* getUnitSpherePoints(int highres = 0);
|
|
|
|
public:
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
btShapeHull(const btConvexShape* shape);
|
|
~btShapeHull();
|
|
|
|
bool buildHull(btScalar margin, int highres = 0);
|
|
|
|
int numTriangles() const;
|
|
int numVertices() const;
|
|
int numIndices() const;
|
|
|
|
const btVector3* getVertexPointer() const
|
|
{
|
|
return &m_vertices[0];
|
|
}
|
|
const unsigned int* getIndexPointer() const
|
|
{
|
|
return &m_indices[0];
|
|
}
|
|
};
|
|
|
|
#endif //BT_SHAPE_HULL_H
|