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_2D_SHAPE_H 00017 #define BT_CONVEX_2D_SHAPE_H 00018 00019 #include "BulletCollision/CollisionShapes/btConvexShape.h" 00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types 00021 00024 ATTRIBUTE_ALIGNED16(class) btConvex2dShape : public btConvexShape 00025 { 00026 btConvexShape* m_childConvexShape; 00027 00028 public: 00029 00030 BT_DECLARE_ALIGNED_ALLOCATOR(); 00031 00032 btConvex2dShape( btConvexShape* convexChildShape); 00033 00034 virtual ~btConvex2dShape(); 00035 00036 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; 00037 00038 virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; 00039 00040 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; 00041 00042 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; 00043 00044 btConvexShape* getChildShape() 00045 { 00046 return m_childConvexShape; 00047 } 00048 00049 const btConvexShape* getChildShape() const 00050 { 00051 return m_childConvexShape; 00052 } 00053 00054 virtual const char* getName()const 00055 { 00056 return "Convex2dShape"; 00057 } 00058 00059 00060 00062 00063 00065 void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; 00066 00067 virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; 00068 00069 virtual void setLocalScaling(const btVector3& scaling) ; 00070 virtual const btVector3& getLocalScaling() const ; 00071 00072 virtual void setMargin(btScalar margin); 00073 virtual btScalar getMargin() const; 00074 00075 virtual int getNumPreferredPenetrationDirections() const; 00076 00077 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const; 00078 00079 00080 }; 00081 00082 #endif //BT_CONVEX_2D_SHAPE_H