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CollisionShape.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef COLLISION_SHAPE_H
#define COLLISION_SHAPE_H

#include "SimdTransform.h"
#include "SimdVector3.h"
#include <SimdMatrix3x3.h>
#include "SimdPoint3.h"
#include "BroadphaseCollision/BroadphaseProxy.h" //for the shape types

///CollisionShape provides generic interface for collidable objects
00026 class CollisionShape
{

public:

      CollisionShape()
      :m_tempDebug(0)
      {
      }
      virtual ~CollisionShape()
      {
      }

      virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const =0;

      virtual void      GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const;

      virtual float     GetAngularMotionDisc() const;

      virtual int       GetShapeType() const=0;

      ///CalculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
      ///result is conservative
      void CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax);

      bool  IsPolyhedral() const
      {
            return (GetShapeType() < IMPLICIT_CONVEX_SHAPES_START_HERE);
      }

      bool  IsConvex() const
      {
            return (GetShapeType() < CONCAVE_SHAPES_START_HERE);
      }
      bool  IsConcave() const
      {
            return (GetShapeType() > CONCAVE_SHAPES_START_HERE);
      }


      virtual void      setLocalScaling(const SimdVector3& scaling) =0;
      virtual const SimdVector3& getLocalScaling() const =0;

      virtual void      CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) = 0;

//debugging support
      virtual char*     GetName()const =0 ;
      const char* GetExtraDebugInfo() const { return m_tempDebug;}
      void  SetExtraDebugInfo(const char* extraDebugInfo) { m_tempDebug = extraDebugInfo;}
      const char * m_tempDebug;
//endif debugging support

      virtual void      SetMargin(float margin) = 0;
      virtual float     GetMargin() const = 0;

};    

#endif //COLLISION_SHAPE_H


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