btTriangleMeshShape.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 TRIANGLE_MESH_SHAPE_H
#define TRIANGLE_MESH_SHAPE_H

#include "btConcaveShape.h"
#include "btStridingMeshInterface.h"


class btTriangleMeshShape : public btConcaveShape
{
protected:
    btVector3   m_localAabbMin;
    btVector3   m_localAabbMax;
    btStridingMeshInterface* m_meshInterface;

    btTriangleMeshShape(btStridingMeshInterface* meshInterface);

public:

    virtual ~btTriangleMeshShape();

    virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;

    virtual btVector3   localGetSupportingVertexWithoutMargin(const btVector3& vec)const
    {
        btAssert(0);
        return localGetSupportingVertex(vec);
    }

    void    recalcLocalAabb();

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

    virtual void    processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;

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

    virtual void    setLocalScaling(const btVector3& scaling);
    virtual const btVector3& getLocalScaling() const;
    
    btStridingMeshInterface* getMeshInterface()
    {
        return m_meshInterface;
    }

    const btStridingMeshInterface* getMeshInterface() const
    {
        return m_meshInterface;
    }

    const btVector3& getLocalAabbMin() const
    {
        return m_localAabbMin;
    }
    const btVector3& getLocalAabbMax() const
    {
        return m_localAabbMax;
    }



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

    

};




#endif //TRIANGLE_MESH_SHAPE_H