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btTriangleMeshShape.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 TRIANGLE_MESH_SHAPE_H
00017 #define TRIANGLE_MESH_SHAPE_H
00018 
00019 #include "btConcaveShape.h"
00020 #include "btStridingMeshInterface.h"
00021 
00022 
00024 class btTriangleMeshShape : public btConcaveShape
00025 {
00026 protected:
00027        btVector3     m_localAabbMin;
00028        btVector3     m_localAabbMax;
00029        btStridingMeshInterface* m_meshInterface;
00030 
00033        btTriangleMeshShape(btStridingMeshInterface* meshInterface);
00034 
00035 public:
00036 
00037        virtual ~btTriangleMeshShape();
00038 
00039        virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
00040 
00041        virtual btVector3    localGetSupportingVertexWithoutMargin(const btVector3& vec)const
00042        {
00043               assert(0);
00044               return localGetSupportingVertex(vec);
00045        }
00046 
00047        void   recalcLocalAabb();
00048 
00049        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
00050 
00051        virtual void  processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
00052 
00053        virtual void  calculateLocalInertia(btScalar mass,btVector3& inertia) const;
00054 
00055        virtual void  setLocalScaling(const btVector3& scaling);
00056        virtual const btVector3& getLocalScaling() const;
00057        
00058        btStridingMeshInterface* getMeshInterface()
00059        {
00060               return m_meshInterface;
00061        }
00062 
00063        const btStridingMeshInterface* getMeshInterface() const
00064        {
00065               return m_meshInterface;
00066        }
00067 
00068 
00069        //debugging
00070        virtual const char*  getName()const {return "TRIANGLEMESH";}
00071 
00072 
00073 };
00074 
00075 #endif //TRIANGLE_MESH_SHAPE_H