Blender  V3.3
btUniformScalingShape.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_UNIFORM_SCALING_SHAPE_H
17 #define BT_UNIFORM_SCALING_SHAPE_H
18 
19 #include "btConvexShape.h"
21 
26 {
27  btConvexShape* m_childConvexShape;
28 
30 
31 public:
33 
34  btUniformScalingShape(btConvexShape * convexChildShape, btScalar uniformScalingFactor);
35 
36  virtual ~btUniformScalingShape();
37 
39 
40  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
41 
42  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
43 
44  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
45 
47  {
49  }
50 
52  {
53  return m_childConvexShape;
54  }
55 
56  const btConvexShape* getChildShape() const
57  {
58  return m_childConvexShape;
59  }
60 
61  virtual const char* getName() const
62  {
63  return "UniformScalingShape";
64  }
65 
67 
69  void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
70 
71  virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
72 
73  virtual void setLocalScaling(const btVector3& scaling);
74  virtual const btVector3& getLocalScaling() const;
75 
76  virtual void setMargin(btScalar margin);
77  virtual btScalar getMargin() const;
78 
79  virtual int getNumPreferredPenetrationDirections() const;
80 
81  virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
82 };
83 
84 #endif //BT_UNIFORM_SCALING_SHAPE_H
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btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
virtual void setLocalScaling(const btVector3 &scaling)
in case we receive negative scaling
Definition: btBox2dShape.h:120
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
Definition: btBox2dShape.h:62
virtual btScalar getMargin() const
virtual ~btUniformScalingShape()
btConvexShape * getChildShape()
btScalar getUniformScalingFactor() const
virtual const char * getName() const
getName is for debugging
virtual void setMargin(btScalar margin)
Definition: btBox2dShape.h:110
btUniformScalingShape(btConvexShape *convexChildShape, btScalar uniformScalingFactor)
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btBox2dShape.h:51
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
CollisionShape Interface.
Definition: btConeShape.h:54
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBox2dShape.h:71
virtual const btVector3 & getLocalScaling() const
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btBox2dShape.h:311
virtual int getNumPreferredPenetrationDirections() const
Definition: btBox2dShape.h:306
btScalar m_uniformScalingFactor
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82