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TriangleMeshShape.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 TRIANGLE_MESH_SHAPE_H
#define TRIANGLE_MESH_SHAPE_H

#include "CollisionShapes/CollisionShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types

#include "StridingMeshInterface.h"
#include "TriangleCallback.h"



///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
00023 class TriangleMeshShape : public CollisionShape
{
protected:
      StridingMeshInterface* m_meshInterface;
      SimdVector3 m_localAabbMin;
      SimdVector3 m_localAabbMax;
      float m_collisionMargin;

public:
      TriangleMeshShape(StridingMeshInterface* meshInterface);

      virtual ~TriangleMeshShape();


      
      virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const;

      virtual SimdVector3     LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
      {
            assert(0);
            return LocalGetSupportingVertex(vec);
      }

      void  RecalcLocalAabb();

      virtual int GetShapeType() const
      {
            return TRIANGLE_MESH_SHAPE_PROXYTYPE;
      }

      virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;

      virtual void      ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;

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

      virtual void      setLocalScaling(const SimdVector3& scaling);
      virtual const SimdVector3& getLocalScaling() const;
      

      //debugging
      virtual char*     GetName()const {return "TRIANGLEMESH";}

      
      virtual float GetMargin() const {
            return m_collisionMargin;
      }
      virtual void SetMargin(float collisionMargin)
      {
            m_collisionMargin = collisionMargin;
      }



};

#endif //TRIANGLE_MESH_SHAPE_H

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