81 lines
2.8 KiB
C
81 lines
2.8 KiB
C
|
/*
|
||
|
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
||
|
|
|
||
|
|
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 BT_CONVEX_2D_SHAPE_H
|
||
|
|
#define BT_CONVEX_2D_SHAPE_H
|
||
|
|
|
||
|
|
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||
|
|
|
||
|
|
///The btConvex2dShape allows to use arbitrary convex shapes are 2d convex shapes, with the Z component assumed to be 0.
|
||
|
|
///For 2d boxes, the btBox2dShape is recommended.
|
||
|
|
class btConvex2dShape : public btConvexShape
|
||
|
|
{
|
||
|
|
btConvexShape* m_childConvexShape;
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
btConvex2dShape( btConvexShape* convexChildShape);
|
||
|
|
|
||
|
|
virtual ~btConvex2dShape();
|
||
|
|
|
||
|
|
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||
|
|
|
||
|
|
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
|
||
|
|
|
||
|
|
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||
|
|
|
||
|
|
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||
|
|
|
||
|
|
btConvexShape* getChildShape()
|
||
|
|
{
|
||
|
|
return m_childConvexShape;
|
||
|
|
}
|
||
|
|
|
||
|
|
const btConvexShape* getChildShape() const
|
||
|
|
{
|
||
|
|
return m_childConvexShape;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual const char* getName()const
|
||
|
|
{
|
||
|
|
return "Convex2dShape";
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
///////////////////////////
|
||
|
|
|
||
|
|
|
||
|
|
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
||
|
|
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||
|
|
|
||
|
|
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||
|
|
|
||
|
|
virtual void setLocalScaling(const btVector3& scaling) ;
|
||
|
|
virtual const btVector3& getLocalScaling() const ;
|
||
|
|
|
||
|
|
virtual void setMargin(btScalar margin);
|
||
|
|
virtual btScalar getMargin() const;
|
||
|
|
|
||
|
|
virtual int getNumPreferredPenetrationDirections() const;
|
||
|
|
|
||
|
|
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //BT_CONVEX_2D_SHAPE_H
|