btConvex2dShape.h

Go to the documentation of this file.

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef BT_CONVEX_2D_SHAPE_H
#define BT_CONVEX_2D_SHAPE_H

#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types

class btConvex2dShape : public btConvexShape
{
        btConvexShape*  m_childConvexShape;

        public:
        
        btConvex2dShape(        btConvexShape* convexChildShape);
        
        virtual ~btConvex2dShape();
        
        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;

        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;

        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;

        virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;

        btConvexShape*  getChildShape() 
        {
                return m_childConvexShape;
        }

        const btConvexShape*    getChildShape() const
        {
                return m_childConvexShape;
        }

        virtual const char*     getName()const 
        {
                return "Convex2dShape";
        }
        




        void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

        virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

        virtual void    setLocalScaling(const btVector3& scaling) ;
        virtual const btVector3& getLocalScaling() const ;

        virtual void    setMargin(btScalar margin);
        virtual btScalar        getMargin() const;

        virtual int             getNumPreferredPenetrationDirections() const;
        
        virtual void    getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;


};

#endif //BT_CONVEX_2D_SHAPE_H