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_TRIANGLE_MESH_SHAPE_H 00017 #define BT_TRIANGLE_MESH_SHAPE_H 00018 00019 #include "btConcaveShape.h" 00020 #include "btStridingMeshInterface.h" 00021 00022 00024 ATTRIBUTE_ALIGNED16(class) btTriangleMeshShape : public btConcaveShape 00025 { 00026 protected: 00027 btVector3 m_localAabbMin; 00028 btVector3 m_localAabbMax; 00029 btStridingMeshInterface* m_meshInterface; 00030 00033 btTriangleMeshShape(btStridingMeshInterface* meshInterface); 00034 00035 public: 00036 BT_DECLARE_ALIGNED_ALLOCATOR(); 00037 00038 virtual ~btTriangleMeshShape(); 00039 00040 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; 00041 00042 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const 00043 { 00044 btAssert(0); 00045 return localGetSupportingVertex(vec); 00046 } 00047 00048 void recalcLocalAabb(); 00049 00050 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; 00051 00052 virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; 00053 00054 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; 00055 00056 virtual void setLocalScaling(const btVector3& scaling); 00057 virtual const btVector3& getLocalScaling() const; 00058 00059 btStridingMeshInterface* getMeshInterface() 00060 { 00061 return m_meshInterface; 00062 } 00063 00064 const btStridingMeshInterface* getMeshInterface() const 00065 { 00066 return m_meshInterface; 00067 } 00068 00069 const btVector3& getLocalAabbMin() const 00070 { 00071 return m_localAabbMin; 00072 } 00073 const btVector3& getLocalAabbMax() const 00074 { 00075 return m_localAabbMax; 00076 } 00077 00078 00079 00080 //debugging 00081 virtual const char* getName()const {return "TRIANGLEMESH";} 00082 00083 00084 00085 }; 00086 00087 00088 00089 00090 #endif //BT_TRIANGLE_MESH_SHAPE_H