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btConvexShape.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef CONVEX_SHAPE_INTERFACE1
00017 #define CONVEX_SHAPE_INTERFACE1
00018 
00019 #include "btCollisionShape.h"
00020 
00021 #include "LinearMath/btVector3.h"
00022 #include "LinearMath/btTransform.h"
00023 #include "LinearMath/btMatrix3x3.h"
00024 #include "btCollisionMargin.h"
00025 #include "LinearMath/btAlignedAllocator.h"
00026 
00027 //todo: get rid of this btConvexCastResult thing!
00028 struct btConvexCastResult;
00029 #define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
00030 
00034 ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
00035 {
00036 
00037 
00038 public:
00039 
00040        BT_DECLARE_ALIGNED_ALLOCATOR();
00041 
00042        virtual ~btConvexShape()
00043        {
00044 
00045        }
00046 
00047 
00048        virtual btVector3    localGetSupportingVertex(const btVector3& vec)const =0;
00049 #ifndef __SPU__
00050        virtual btVector3    localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
00051        
00052        //notice that the vectors should be unit length
00053        virtual void  batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
00054 #endif //#ifndef __SPU__
00055 
00056 
00058        void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
00059 
00060        virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
00061 
00062        virtual void  setLocalScaling(const btVector3& scaling) =0;
00063        virtual const btVector3& getLocalScaling() const =0;
00064 
00065        virtual void  setMargin(btScalar margin)=0;
00066 
00067        virtual btScalar     getMargin() const=0;
00068 
00069        virtual int          getNumPreferredPenetrationDirections() const=0;
00070        
00071        virtual void  getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
00072 
00073 };
00074 
00075 
00076 
00077 #endif //CONVEX_SHAPE_INTERFACE1