100 lines
2.1 KiB
C
100 lines
2.1 KiB
C
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#ifndef BT_CONVEX_INTERNAL_SHAPE_H
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#define BT_CONVEX_INTERNAL_SHAPE_H
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#include "btConvexShape.h"
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///btConvexInternalShape carries some additional data, shared by most implementations
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class btConvexInternalShape : public btConvexShape
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{
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protected:
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//local scaling. collisionMargin is not scaled !
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btVector3 m_localScaling;
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btVector3 m_implicitShapeDimensions;
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btScalar m_collisionMargin;
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btScalar m_padding[2];
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public:
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btConvexInternalShape();
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virtual ~btConvexInternalShape()
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{
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}
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virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
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#ifndef __SPU__
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
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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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#endif //#ifndef __SPU__
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const btVector3& getImplicitShapeDimensions() const
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{
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return m_implicitShapeDimensions;
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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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{
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getAabbSlow(t,aabbMin,aabbMax);
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}
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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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{
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return m_localScaling;
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}
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const btVector3& getLocalScalingNV() const
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{
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return m_localScaling;
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}
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virtual void setMargin(btScalar margin)
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{
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m_collisionMargin = margin;
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}
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virtual btScalar getMargin() const
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{
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return m_collisionMargin;
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}
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btScalar getMarginNV() const
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{
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return m_collisionMargin;
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}
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virtual int getNumPreferredPenetrationDirections() const
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{
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return 0;
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}
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virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
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{
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(void)penetrationVector;
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(void)index;
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btAssert(0);
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}
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};
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#endif //BT_CONVEX_INTERNAL_SHAPE_H
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