btConvexTriangleMeshShape.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 #ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
00016 #define BT_CONVEX_TRIANGLEMESH_SHAPE_H
00017 
00018 
00019 #include "btPolyhedralConvexShape.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
00021 
00022 
00025 ATTRIBUTE_ALIGNED16(class) btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
00026 {
00027 
00028         class btStridingMeshInterface*  m_stridingMesh;
00029 
00030 public:
00031         BT_DECLARE_ALIGNED_ALLOCATOR();
00032         
00033         btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
00034 
00035         class btStridingMeshInterface*  getMeshInterface()
00036         {
00037                 return m_stridingMesh;
00038         }
00039         const class btStridingMeshInterface* getMeshInterface() const
00040         {
00041                 return m_stridingMesh;
00042         }
00043         
00044         virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
00045         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
00046         virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
00047         
00048         //debugging
00049         virtual const char*     getName()const {return "ConvexTrimesh";}
00050         
00051         virtual int     getNumVertices() const;
00052         virtual int getNumEdges() const;
00053         virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
00054         virtual void getVertex(int i,btVector3& vtx) const;
00055         virtual int     getNumPlanes() const;
00056         virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
00057         virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
00058 
00059         
00060         virtual void    setLocalScaling(const btVector3& scaling);
00061         virtual const btVector3& getLocalScaling() const;
00062 
00068         void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const;
00069 
00070 };
00071 
00072 
00073 
00074 #endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
00075 
00076 
00077