75 lines
2.5 KiB
C
75 lines
2.5 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 BU_SIMPLEX_1TO4_SHAPE
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#define BU_SIMPLEX_1TO4_SHAPE
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#include "btPolyhedralConvexShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
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class btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
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{
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protected:
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int m_numVertices;
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btVector3 m_vertices[4];
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public:
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btBU_Simplex1to4();
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btBU_Simplex1to4(const btVector3& pt0);
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btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1);
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btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2);
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btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3);
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void reset()
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{
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m_numVertices = 0;
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}
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virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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void addVertex(const btVector3& pt);
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//PolyhedralConvexShape interface
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virtual int getNumVertices() const;
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virtual int getNumEdges() const;
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virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
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virtual void getVertex(int i,btVector3& vtx) const;
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virtual int getNumPlanes() const;
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virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const;
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virtual int getIndex(int i) const;
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virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
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///getName is for debugging
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virtual const char* getName()const { return "btBU_Simplex1to4";}
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};
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#endif //BU_SIMPLEX_1TO4_SHAPE
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