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PolyhedralConvexShape.h

/*
 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.
*/
#ifndef BU_SHAPE
#define BU_SHAPE

#include <SimdPoint3.h>
#include <SimdMatrix3x3.h>
#include <CollisionShapes/ConvexShape.h>


///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes.
00020 class PolyhedralConvexShape : public ConvexShape
{

public:

      PolyhedralConvexShape();
      
      //brute force implementations
      virtual SimdVector3     LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;

            virtual void      CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);



      virtual int GetNumVertices() const = 0 ;
      virtual int GetNumEdges() const = 0;
      virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const = 0;
      virtual void GetVertex(int i,SimdPoint3& vtx) const = 0;
      virtual int GetNumPlanes() const = 0;
      virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const = 0;
//    virtual int GetIndex(int i) const = 0 ; 

      virtual     bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const = 0;
      
};

#endif //BU_SHAPE

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