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btUniformScalingShape.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 BT_UNIFORM_SCALING_SHAPE_H
00017 #define BT_UNIFORM_SCALING_SHAPE_H
00018 
00019 #include "btConvexShape.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
00021 
00022 class btUniformScalingShape : public btConvexShape
00023 {
00024        btConvexShape*       m_childConvexShape;
00025 
00026        btScalar      m_uniformScalingFactor;
00027        
00028        public:
00029        
00030        btUniformScalingShape(      btConvexShape* convexChildShape, btScalar uniformScalingFactor);
00031        
00032        virtual ~btUniformScalingShape();
00033        
00034        virtual btVector3    localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
00035 
00036        virtual btVector3    localGetSupportingVertex(const btVector3& vec)const;
00037 
00038        virtual void  batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
00039 
00040        virtual void  calculateLocalInertia(btScalar mass,btVector3& inertia) const;
00041 
00042        btScalar      getUniformScalingFactor() const
00043        {
00044               return m_uniformScalingFactor;
00045        }
00046 
00047        btConvexShape*       getChildShape() 
00048        {
00049               return m_childConvexShape;
00050        }
00051 
00052        const btConvexShape* getChildShape() const
00053        {
00054               return m_childConvexShape;
00055        }
00056 
00057        virtual const char*  getName()const 
00058        {
00059               return "UniformScalingShape";
00060        }
00061        
00062        virtual int   getShapeType() const { return UNIFORM_SCALING_SHAPE_PROXYTYPE; }
00063 
00064 
00066 
00067 
00069        void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
00070 
00071        virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
00072 
00073        virtual void  setLocalScaling(const btVector3& scaling) ;
00074        virtual const btVector3& getLocalScaling() const ;
00075 
00076        virtual void  setMargin(btScalar margin);
00077        virtual btScalar     getMargin() const;
00078 
00079        virtual int          getNumPreferredPenetrationDirections() const;
00080        
00081        virtual void  getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
00082 
00083 
00084 };
00085 
00086 #endif //BT_UNIFORM_SCALING_SHAPE_H