88 lines
3.1 KiB
C
88 lines
3.1 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 BT_UNIFORM_SCALING_SHAPE_H
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#define BT_UNIFORM_SCALING_SHAPE_H
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#include "btConvexShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way.
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///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it.
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class btUniformScalingShape : public btConvexShape
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{
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btConvexShape* m_childConvexShape;
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btScalar m_uniformScalingFactor;
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public:
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btUniformScalingShape( btConvexShape* convexChildShape, btScalar uniformScalingFactor);
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virtual ~btUniformScalingShape();
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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btScalar getUniformScalingFactor() const
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{
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return m_uniformScalingFactor;
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}
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btConvexShape* getChildShape()
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{
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return m_childConvexShape;
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}
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const btConvexShape* getChildShape() const
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{
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return m_childConvexShape;
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}
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virtual const char* getName()const
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{
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return "UniformScalingShape";
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}
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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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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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virtual void setMargin(btScalar margin);
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virtual btScalar getMargin() const;
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virtual int getNumPreferredPenetrationDirections() const;
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virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
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};
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#endif //BT_UNIFORM_SCALING_SHAPE_H
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