bullet: btConvexPointCloudShape.h Source File

00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
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_CONVEX_POINT_CLOUD_SHAPE_H
00017 #define BT_CONVEX_POINT_CLOUD_SHAPE_H
00018 
00019 #include "btPolyhedralConvexShape.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
00021 #include "LinearMath/btAlignedObjectArray.h"
00022 
00024 ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
00025 {
00026         btVector3* m_unscaledPoints;
00027         int m_numPoints;
00028 
00029 public:
00030         BT_DECLARE_ALIGNED_ALLOCATOR();
00031 
00032         btConvexPointCloudShape()
00033         {
00034                 m_localScaling.setValue(1.f,1.f,1.f);
00035                 m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
00036                 m_unscaledPoints = 0;
00037                 m_numPoints = 0;
00038         }
00039 
00040         btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
00041         {
00042                 m_localScaling = localScaling;
00043                 m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
00044                 m_unscaledPoints = points;
00045                 m_numPoints = numPoints;
00046 
00047                 if (computeAabb)
00048                         recalcLocalAabb();
00049         }
00050 
00051         void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f))
00052         {
00053                 m_unscaledPoints = points;
00054                 m_numPoints = numPoints;
00055                 m_localScaling = localScaling;
00056 
00057                 if (computeAabb)
00058                         recalcLocalAabb();
00059         }
00060 
00061         SIMD_FORCE_INLINE       btVector3* getUnscaledPoints()
00062         {
00063                 return m_unscaledPoints;
00064         }
00065 
00066         SIMD_FORCE_INLINE       const btVector3* getUnscaledPoints() const
00067         {
00068                 return m_unscaledPoints;
00069         }
00070 
00071         SIMD_FORCE_INLINE       int getNumPoints() const 
00072         {
00073                 return m_numPoints;
00074         }
00075 
00076         SIMD_FORCE_INLINE       btVector3       getScaledPoint( int index) const
00077         {
00078                 return m_unscaledPoints[index] * m_localScaling;
00079         }
00080 
00081 #ifndef __SPU__
00082         virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
00083         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
00084         virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
00085 #endif
00086 
00087 
00088         //debugging
00089         virtual const char*     getName()const {return "ConvexPointCloud";}
00090 
00091         virtual int     getNumVertices() const;
00092         virtual int getNumEdges() const;
00093         virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
00094         virtual void getVertex(int i,btVector3& vtx) const;
00095         virtual int     getNumPlanes() const;
00096         virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
00097         virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
00098 
00100         virtual void    setLocalScaling(const btVector3& scaling);
00101 };
00102 
00103 
00104 #endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
00105