Bullet Collision Detection & Physics Library: btTriangleMeshShape.h Source File

Bullet Collision Detection & Physics Library

btTriangleMeshShape.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_TRIANGLE_MESH_SHAPE_H
17#define BT_TRIANGLE_MESH_SHAPE_H
18
19#include "btConcaveShape.h"
20#include "btStridingMeshInterface.h"
21
23 ATTRIBUTE_ALIGNED16(class)
24 btTriangleMeshShape : public btConcaveShape
25{
26protected:
27 btVector3 m_localAabbMin;
28 btVector3 m_localAabbMax;
29 btStridingMeshInterface* m_meshInterface;
30
33 btTriangleMeshShape(btStridingMeshInterface * meshInterface);
34
35public:
36 BT_DECLARE_ALIGNED_ALLOCATOR();
37
38 virtual ~btTriangleMeshShape();
39
40 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
41
42 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
43 {
44 btAssert(0);
45 return localGetSupportingVertex(vec);
46 }
47
48 void recalcLocalAabb();
49
50 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
51
52 virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
53
54 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
55
56 virtual void setLocalScaling(const btVector3& scaling);
57 virtual const btVector3& getLocalScaling() const;
58
59 btStridingMeshInterface* getMeshInterface()
60 {
61 return m_meshInterface;
62 }
63
64 const btStridingMeshInterface* getMeshInterface() const
65 {
66 return m_meshInterface;
67 }
68
69 const btVector3& getLocalAabbMin() const
70 {
71 return m_localAabbMin;
72 }
73 const btVector3& getLocalAabbMax() const
74 {
75 return m_localAabbMax;
76 }
77
78 //debugging
79 virtual const char* getName() const { return "TRIANGLEMESH"; }
80};
81
82#endif //BT_TRIANGLE_MESH_SHAPE_H
btConcaveShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
btAssert
#define btAssert(x)
Definition btScalar.h:153
btStridingMeshInterface.h
btConcaveShape::btConcaveShape
btConcaveShape()
Definition btConcaveShape.cpp:18
btStridingMeshInterface
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
Definition btStridingMeshInterface.h:28
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition btTriangleCallback.h:24
btTriangleMeshShape::getMeshInterface
const btStridingMeshInterface * getMeshInterface() const
Definition btTriangleMeshShape.h:64
btTriangleMeshShape::m_localAabbMin
btVector3 m_localAabbMin
Definition btTriangleMeshShape.h:27
btTriangleMeshShape::btTriangleMeshShape
btTriangleMeshShape(btStridingMeshInterface *meshInterface)
btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use th...
Definition btTriangleMeshShape.cpp:23
btTriangleMeshShape::getLocalAabbMax
const btVector3 & getLocalAabbMax() const
Definition btTriangleMeshShape.h:73
btTriangleMeshShape::m_localAabbMax
btVector3 m_localAabbMax
Definition btTriangleMeshShape.h:28
btTriangleMeshShape::getMeshInterface
btStridingMeshInterface * getMeshInterface()
Definition btTriangleMeshShape.h:59
btTriangleMeshShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btTriangleMeshShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition btTriangleMeshShape.h:42
btTriangleMeshShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition btTriangleMeshShape.cpp:163
btTriangleMeshShape::m_meshInterface
btStridingMeshInterface * m_meshInterface
Definition btTriangleMeshShape.h:29
btTriangleMeshShape::getName
virtual const char * getName() const
Definition btTriangleMeshShape.h:79
btTriangleMeshShape::getLocalAabbMin
const btVector3 & getLocalAabbMin() const
Definition btTriangleMeshShape.h:69
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82