2022-03-17 23:20:34 +01:00
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#ifndef BT_CONVEX_SHAPE_INTERFACE1
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#define BT_CONVEX_SHAPE_INTERFACE1
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2022-03-15 13:29:32 +01:00
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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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2022-03-17 23:20:34 +01:00
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2022-03-15 13:29:32 +01:00
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#include "btCollisionShape.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btMatrix3x3.h"
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#include "btCollisionMargin.h"
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#include "LinearMath/btAlignedAllocator.h"
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#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
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/// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.
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/// It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector.
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ATTRIBUTE_ALIGNED16(class)
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btConvexShape : public btCollisionShape
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{
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btConvexShape();
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virtual ~btConvexShape();
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virtual btVector3 localGetSupportingVertex(const btVector3& vec) const = 0;
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////////
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#ifndef __SPU__
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const = 0;
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#endif //#ifndef __SPU__
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btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3& vec) const;
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btVector3 localGetSupportVertexNonVirtual(const btVector3& vec) const;
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btScalar getMarginNonVirtual() const;
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void getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
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virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
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//notice that the vectors should be unit length
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const = 0;
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///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
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void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
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virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const = 0;
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virtual void setLocalScaling(const btVector3& scaling) = 0;
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virtual const btVector3& getLocalScaling() const = 0;
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virtual void setMargin(btScalar margin) = 0;
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virtual btScalar getMargin() const = 0;
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virtual int getNumPreferredPenetrationDirections() const = 0;
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virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const = 0;
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};
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#endif //BT_CONVEX_SHAPE_INTERFACE1
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