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ConvexHullShape.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 CONVEX_HULL_SHAPE_H
#define CONVEX_HULL_SHAPE_H

#include "PolyhedralConvexShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types

#include <vector>

///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
///No connectivity is needed. LocalGetSupportingVertex iterates linearly though all vertices.
///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
///(memory is much slower then the cpu)
00028 class ConvexHullShape : public PolyhedralConvexShape
{
      std::vector<SimdPoint3> m_points;

public:
      ConvexHullShape(SimdPoint3* points,int numPoints);

      void AddPoint(const SimdPoint3& point)
      {
            m_points.push_back(point);
      }
      virtual SimdVector3     LocalGetSupportingVertex(const SimdVector3& vec)const;
      virtual SimdVector3     LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
      virtual void      BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
      

      virtual int GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }

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

      
      virtual int GetNumVertices() const;
      virtual int GetNumEdges() const;
      virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
      virtual void GetVertex(int i,SimdPoint3& vtx) const;
      virtual int GetNumPlanes() const;
      virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
      virtual     bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;



};


#endif //CONVEX_HULL_SHAPE_H


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