btConvex2dShape.h

Go to the documentation of this file.
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