btShapeHull.h

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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