Bullet Collision Detection & Physics Library: btConvex2dShape.h Source File

Bullet Collision Detection & Physics Library

btConvex2dShape.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_CONVEX_2D_SHAPE_H
17#define BT_CONVEX_2D_SHAPE_H
18
19#include "BulletCollision/CollisionShapes/btConvexShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
24 ATTRIBUTE_ALIGNED16(class)
25 btConvex2dShape : public btConvexShape
26{
27 btConvexShape* m_childConvexShape;
28
29public:
30 BT_DECLARE_ALIGNED_ALLOCATOR();
31
32 btConvex2dShape(btConvexShape * convexChildShape);
33
34 virtual ~btConvex2dShape();
35
36 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
37
38 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
39
40 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
41
42 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
43
44 btConvexShape* getChildShape()
45 {
46 return m_childConvexShape;
47 }
48
49 const btConvexShape* getChildShape() const
50 {
51 return m_childConvexShape;
52 }
53
54 virtual const char* getName() const
55 {
56 return "Convex2dShape";
57 }
58
60
62 void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
63
64 virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
65
66 virtual void setLocalScaling(const btVector3& scaling);
67 virtual const btVector3& getLocalScaling() const;
68
69 virtual void setMargin(btScalar margin);
70 virtual btScalar getMargin() const;
71
72 virtual int getNumPreferredPenetrationDirections() const;
73
74 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
75};
76
77#endif //BT_CONVEX_2D_SHAPE_H
btBroadphaseProxy.h
btConvexShape.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
btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition btConvex2dShape.cpp:32
btConvex2dShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition btConvex2dShape.cpp:37
btConvex2dShape::getChildShape
const btConvexShape * getChildShape() const
Definition btConvex2dShape.h:49
btConvex2dShape::getChildShape
btConvexShape * getChildShape()
Definition btConvex2dShape.h:44
btConvex2dShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition btConvex2dShape.cpp:27
btConvex2dShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvex2dShape::getName
virtual const char * getName() const
Definition btConvex2dShape.h:54
btConvex2dShape::m_childConvexShape
btConvexShape * m_childConvexShape
Definition btConvex2dShape.h:27
btConvex2dShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition btConvex2dShape.cpp:42
btConvex2dShape::btConvex2dShape
btConvex2dShape(btConvexShape *convexChildShape)
Definition btConvex2dShape.cpp:18
btConvexShape::btConvexShape
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
Definition btConvexShape.cpp:41
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82