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btPolyhedralConvexShape.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 BU_SHAPE
#define BU_SHAPE

#include "../../LinearMath/btPoint3.h"
#include "../../LinearMath/btMatrix3x3.h"
#include "btConvexShape.h"


///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes.
00025 class btPolyhedralConvexShape : public btConvexShape
{

protected:
      btVector3   m_localAabbMin;
      btVector3   m_localAabbMax;
      bool        m_isLocalAabbValid;

public:

      btPolyhedralConvexShape();

      //brute force implementations
      virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
      virtual void      batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
      
      virtual void      calculateLocalInertia(btScalar mass,btVector3& inertia);


      inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
      {

            //lazy evaluation of local aabb
            btAssert(m_isLocalAabbValid);

            btAssert(m_localAabbMin.getX() <= m_localAabbMax.getX());
            btAssert(m_localAabbMin.getY() <= m_localAabbMax.getY());
            btAssert(m_localAabbMin.getZ() <= m_localAabbMax.getZ());


            btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
            btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
            
            btMatrix3x3 abs_b = trans.getBasis().absolute();  

            btPoint3 center = trans(localCenter);

            btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
                     abs_b[1].dot(localHalfExtents),
                    abs_b[2].dot(localHalfExtents));
            extent += btVector3(margin,margin,margin);

            aabbMin = center - extent;
            aabbMax = center + extent;

            
      }

      
      virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

      void  recalcLocalAabb();

      virtual int getNumVertices() const = 0 ;
      virtual int getNumEdges() const = 0;
      virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const = 0;
      virtual void getVertex(int i,btPoint3& vtx) const = 0;
      virtual int getNumPlanes() const = 0;
      virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const = 0;
//    virtual int getIndex(int i) const = 0 ; 

      virtual     bool isInside(const btPoint3& pt,btScalar tolerance) const = 0;
      
      /// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
00089       class Hull* m_optionalHull;

};

#endif //BU_SHAPE

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