btConvexPointCloudShape.h

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/*
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 BT_CONVEX_POINT_CLOUD_SHAPE_H
#define BT_CONVEX_POINT_CLOUD_SHAPE_H

#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "LinearMath/btAlignedObjectArray.h"

ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
{
    btVector3* m_unscaledPoints;
    int m_numPoints;

public:
    BT_DECLARE_ALIGNED_ALLOCATOR();

    btConvexPointCloudShape()
    {
        m_localScaling.setValue(1.f,1.f,1.f);
        m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
        m_unscaledPoints = 0;
        m_numPoints = 0;
    }

    btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
    {
        m_localScaling = localScaling;
        m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
        m_unscaledPoints = points;
        m_numPoints = numPoints;

        if (computeAabb)
            recalcLocalAabb();
    }

    void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f))
    {
        m_unscaledPoints = points;
        m_numPoints = numPoints;
        m_localScaling = localScaling;

        if (computeAabb)
            recalcLocalAabb();
    }

    SIMD_FORCE_INLINE   btVector3* getUnscaledPoints()
    {
        return m_unscaledPoints;
    }

    SIMD_FORCE_INLINE   const btVector3* getUnscaledPoints() const
    {
        return m_unscaledPoints;
    }

    SIMD_FORCE_INLINE   int getNumPoints() const 
    {
        return m_numPoints;
    }

    SIMD_FORCE_INLINE   btVector3   getScaledPoint( int index) const
    {
        return m_unscaledPoints[index] * m_localScaling;
    }

#ifndef __SPU__
    virtual btVector3   localGetSupportingVertex(const btVector3& vec)const;
    virtual btVector3   localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
    virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
#endif


    //debugging
    virtual const char* getName()const {return "ConvexPointCloud";}

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

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


#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H