72 lines
2.5 KiB
C++
72 lines
2.5 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.
|
|
*/
|
|
|
|
#ifndef BT_SIMPLEX_1TO4_SHAPE
|
|
#define BT_SIMPLEX_1TO4_SHAPE
|
|
|
|
#include "btPolyhedralConvexShape.h"
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
|
|
|
///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
|
|
ATTRIBUTE_ALIGNED16(class)
|
|
btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
|
|
{
|
|
protected:
|
|
int m_numVertices;
|
|
btVector3 m_vertices[4];
|
|
|
|
public:
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
btBU_Simplex1to4();
|
|
|
|
btBU_Simplex1to4(const btVector3& pt0);
|
|
btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1);
|
|
btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2);
|
|
btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3);
|
|
|
|
void reset()
|
|
{
|
|
m_numVertices = 0;
|
|
}
|
|
|
|
virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
|
|
|
|
void addVertex(const btVector3& pt);
|
|
|
|
//PolyhedralConvexShape interface
|
|
|
|
virtual int getNumVertices() const;
|
|
|
|
virtual int getNumEdges() const;
|
|
|
|
virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
|
|
|
|
virtual void getVertex(int i, btVector3& vtx) const;
|
|
|
|
virtual int getNumPlanes() const;
|
|
|
|
virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
|
|
|
|
virtual int getIndex(int i) const;
|
|
|
|
virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
|
|
|
|
///getName is for debugging
|
|
virtual const char* getName() const { return "btBU_Simplex1to4"; }
|
|
};
|
|
|
|
#endif //BT_SIMPLEX_1TO4_SHAPE
|