btUniformScalingShape.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 
00016 #ifndef BT_UNIFORM_SCALING_SHAPE_H
00017 #define BT_UNIFORM_SCALING_SHAPE_H
00018 
00019 #include "btConvexShape.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
00021 
00024 ATTRIBUTE_ALIGNED16(class) btUniformScalingShape : public btConvexShape
00025 {
00026         btConvexShape*  m_childConvexShape;
00027 
00028         btScalar        m_uniformScalingFactor;
00029         
00030         public:
00031         
00032         BT_DECLARE_ALIGNED_ALLOCATOR();
00033         
00034         btUniformScalingShape(  btConvexShape* convexChildShape, btScalar uniformScalingFactor);
00035         
00036         virtual ~btUniformScalingShape();
00037         
00038         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
00039 
00040         virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
00041 
00042         virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
00043 
00044         virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
00045 
00046         btScalar        getUniformScalingFactor() const
00047         {
00048                 return m_uniformScalingFactor;
00049         }
00050 
00051         btConvexShape*  getChildShape() 
00052         {
00053                 return m_childConvexShape;
00054         }
00055 
00056         const btConvexShape*    getChildShape() const
00057         {
00058                 return m_childConvexShape;
00059         }
00060 
00061         virtual const char*     getName()const 
00062         {
00063                 return "UniformScalingShape";
00064         }
00065         
00066 
00067 
00069 
00070 
00072         void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
00073 
00074         virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
00075 
00076         virtual void    setLocalScaling(const btVector3& scaling) ;
00077         virtual const btVector3& getLocalScaling() const ;
00078 
00079         virtual void    setMargin(btScalar margin);
00080         virtual btScalar        getMargin() const;
00081 
00082         virtual int             getNumPreferredPenetrationDirections() const;
00083         
00084         virtual void    getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
00085 
00086 
00087 };
00088 
00089 #endif //BT_UNIFORM_SCALING_SHAPE_H