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78 lines
2.8 KiB
C++
78 lines
2.8 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_2D_SHAPE_H
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#define BT_CONVEX_2D_SHAPE_H
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0.
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///For 2d boxes, the btBox2dShape is recommended.
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ATTRIBUTE_ALIGNED16(class)
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btConvex2dShape : public btConvexShape
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{
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btConvexShape* m_childConvexShape;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btConvex2dShape(btConvexShape * convexChildShape);
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virtual ~btConvex2dShape();
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
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virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
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virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
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btConvexShape* getChildShape()
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{
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return m_childConvexShape;
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}
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const btConvexShape* getChildShape() const
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{
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return m_childConvexShape;
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}
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virtual const char* getName() const
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{
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return "Convex2dShape";
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}
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///////////////////////////
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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;
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virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
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virtual void setLocalScaling(const btVector3& scaling);
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virtual const btVector3& getLocalScaling() const;
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virtual void setMargin(btScalar margin);
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virtual btScalar getMargin() const;
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virtual int getNumPreferredPenetrationDirections() const;
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virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
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};
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#endif //BT_CONVEX_2D_SHAPE_H
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