95 lines
3.2 KiB
C
95 lines
3.2 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 COLLISION_SHAPE_H
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#define COLLISION_SHAPE_H
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btMatrix3x3.h"
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#include "LinearMath/btPoint3.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
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///btCollisionShape provides interface for collision shapes that can be shared among btCollisionObjects.
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class btCollisionShape
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{
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public:
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btCollisionShape()
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{
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}
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virtual ~btCollisionShape()
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{
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}
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///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
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virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
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virtual void getBoundingSphere(btVector3& center,btScalar& radius) const;
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///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
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virtual btScalar getAngularMotionDisc() const;
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///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
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///result is conservative
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void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax);
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#ifndef __SPU__
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inline bool isPolyhedral() const
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{
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return btBroadphaseProxy::isPolyhedral(getShapeType());
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}
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inline bool isConvex() const
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{
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return btBroadphaseProxy::isConvex(getShapeType());
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}
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inline bool isConcave() const
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{
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return btBroadphaseProxy::isConcave(getShapeType());
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}
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inline bool isCompound() const
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{
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return btBroadphaseProxy::isCompound(getShapeType());
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}
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///isInfinite is used to catch simulation error (aabb check)
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inline bool isInfinite() const
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{
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return btBroadphaseProxy::isInfinite(getShapeType());
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}
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virtual int getShapeType() 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 calculateLocalInertia(btScalar mass,btVector3& inertia) = 0;
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//debugging support
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virtual const char* getName()const =0 ;
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#endif //__SPU__
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virtual void setMargin(btScalar margin) = 0;
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virtual btScalar getMargin() const = 0;
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};
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#endif //COLLISION_SHAPE_H
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