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