Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

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extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

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	#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H			#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
	#define BT_POLYHEDRAL_CONVEX_SHAPE_H			#define BT_POLYHEDRAL_CONVEX_SHAPE_H

	#include "LinearMath/btMatrix3x3.h"			#include "LinearMath/btMatrix3x3.h"
	#include "btConvexInternalShape.h"			#include "btConvexInternalShape.h"
	class btConvexPolyhedron;			class btConvexPolyhedron;


	///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.			///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
	ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape			ATTRIBUTE_ALIGNED16(class)
				btPolyhedralConvexShape : public btConvexInternalShape
	{			{


	protected:			protected:

	btConvexPolyhedron* m_polyhedron;			btConvexPolyhedron* m_polyhedron;

	public:			public:

	BT_DECLARE_ALIGNED_ALLOCATOR();			BT_DECLARE_ALIGNED_ALLOCATOR();


	btPolyhedralConvexShape();			btPolyhedralConvexShape();

	virtual ~btPolyhedralConvexShape();			virtual ~btPolyhedralConvexShape();

	///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)			///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
	///experimental/work-in-progress			///experimental/work-in-progress
	virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0);			virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin = 0);

				virtual void setPolyhedralFeatures(btConvexPolyhedron & polyhedron);

	const btConvexPolyhedron* getConvexPolyhedron() const			const btConvexPolyhedron* getConvexPolyhedron() const
	{			{
	return m_polyhedron;			return m_polyhedron;
	}			}

	//brute force implementations			//brute force implementations

	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;			virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;			virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;

	virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;			virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;


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

	virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;			virtual bool isInside(const btVector3& pt, btScalar tolerance) const = 0;

	};			};


	///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape			///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
	class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape			class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
	{			{

	btVector3 m_localAabbMin;			btVector3 m_localAabbMin;
	btVector3 m_localAabbMax;			btVector3 m_localAabbMax;
	bool m_isLocalAabbValid;			bool m_isLocalAabbValid;

	protected:			protected:

	void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)			void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
	{			{
	m_isLocalAabbValid = true;			m_isLocalAabbValid = true;
	m_localAabbMin = aabbMin;			m_localAabbMin = aabbMin;
	m_localAabbMax = aabbMax;			m_localAabbMax = aabbMax;
	}			}

	inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const			inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
	{			{
	btAssert(m_isLocalAabbValid);			btAssert(m_isLocalAabbValid);
	aabbMin = m_localAabbMin;			aabbMin = m_localAabbMin;
	aabbMax = m_localAabbMax;			aabbMax = m_localAabbMax;
	}			}

	public:			protected:

	btPolyhedralConvexAabbCachingShape();			btPolyhedralConvexAabbCachingShape();

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

	//lazy evaluation of local aabb			//lazy evaluation of local aabb
	btAssert(m_isLocalAabbValid);			btAssert(m_isLocalAabbValid);
	btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);			btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
	}			}

	virtual void setLocalScaling(const btVector3& scaling);			virtual void setLocalScaling(const btVector3& scaling);

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

	void recalcLocalAabb();			void recalcLocalAabb();

	};			};

	#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H			#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H