btTetrahedronShape.h

Go to the documentation of this file.

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org

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_SIMPLEX_1TO4_SHAPE
#define BU_SIMPLEX_1TO4_SHAPE


#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"


class btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
{
protected:

    int m_numVertices;
    btVector3   m_vertices[4];

public:
    btBU_Simplex1to4();

    btBU_Simplex1to4(const btVector3& pt0);
    btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1);
    btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2);
    btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3);

    
    void    reset()
    {
        m_numVertices = 0;
    }
    
    virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

    void addVertex(const btVector3& pt);

    //PolyhedralConvexShape interface

    virtual int getNumVertices() const;

    virtual int getNumEdges() const;

    virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
    
    virtual void getVertex(int i,btVector3& vtx) const;

    virtual int getNumPlanes() const;

    virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const;

    virtual int getIndex(int i) const;

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


    virtual const char* getName()const { return "btBU_Simplex1to4";}

};

#endif //BU_SIMPLEX_1TO4_SHAPE