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 00017 00018 #ifndef BT_SHAPE_HULL_H 00019 #define BT_SHAPE_HULL_H 00020 00021 #include "LinearMath/btAlignedObjectArray.h" 00022 #include "BulletCollision/CollisionShapes/btConvexShape.h" 00023 00024 00028 ATTRIBUTE_ALIGNED16(class) btShapeHull 00029 { 00030 protected: 00031 00032 btAlignedObjectArray<btVector3> m_vertices; 00033 btAlignedObjectArray<unsigned int> m_indices; 00034 unsigned int m_numIndices; 00035 const btConvexShape* m_shape; 00036 00037 static btVector3* getUnitSpherePoints(); 00038 00039 public: 00040 BT_DECLARE_ALIGNED_ALLOCATOR(); 00041 00042 btShapeHull (const btConvexShape* shape); 00043 ~btShapeHull (); 00044 00045 bool buildHull (btScalar margin); 00046 00047 int numTriangles () const; 00048 int numVertices () const; 00049 int numIndices () const; 00050 00051 const btVector3* getVertexPointer() const 00052 { 00053 return &m_vertices[0]; 00054 } 00055 const unsigned int* getIndexPointer() const 00056 { 00057 return &m_indices[0]; 00058 } 00059 }; 00060 00061 #endif //BT_SHAPE_HULL_H