Bullet Collision Detection & Physics Library
btConvexHullShape.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_CONVEX_HULL_SHAPE_H
17 #define BT_CONVEX_HULL_SHAPE_H
18 
19 #include "btPolyhedralConvexShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21 #include "LinearMath/btAlignedObjectArray.h"
22 
23 
26 ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape
27 {
28  btAlignedObjectArray<btVector3> m_unscaledPoints;
29 
30 public:
31  BT_DECLARE_ALIGNED_ALLOCATOR();
32 
33 
37  btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
38 
39  void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
40 
41 
42  btVector3* getUnscaledPoints()
43  {
44  return &m_unscaledPoints[0];
45  }
46 
47  const btVector3* getUnscaledPoints() const
48  {
49  return &m_unscaledPoints[0];
50  }
51 
53  const btVector3* getPoints() const
54  {
55  return getUnscaledPoints();
56  }
57 
58 
59 
60 
61  SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
62  {
63  return m_unscaledPoints[i] * m_localScaling;
64  }
65 
66  SIMD_FORCE_INLINE int getNumPoints() const
67  {
68  return m_unscaledPoints.size();
69  }
70 
71  virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
72  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
73  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
74 
75 
76  virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
77 
78 
79  //debugging
80  virtual const char* getName()const {return "Convex";}
81 
82 
83  virtual int getNumVertices() const;
84  virtual int getNumEdges() const;
85  virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
86  virtual void getVertex(int i,btVector3& vtx) const;
87  virtual int getNumPlanes() const;
88  virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
89  virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
90 
92  virtual void setLocalScaling(const btVector3& scaling);
93 
94  virtual int calculateSerializeBufferSize() const;
95 
97  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
98 
99 };
100 
102 struct btConvexHullShapeData
103 {
104  btConvexInternalShapeData m_convexInternalShapeData;
105 
106  btVector3FloatData *m_unscaledPointsFloatPtr;
107  btVector3DoubleData *m_unscaledPointsDoublePtr;
108 
109  int m_numUnscaledPoints;
110  char m_padding3[4];
111 
112 };
113 
114 
115 SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
116 {
117  return sizeof(btConvexHullShapeData);
118 }
119 
120 
121 #endif //BT_CONVEX_HULL_SHAPE_H
122 
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