btTriangleMeshShape.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_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