btConvexHullShape.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_HULL_SHAPE_H
#define BT_CONVEX_HULL_SHAPE_H

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


ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape
{
        btAlignedObjectArray<btVector3> m_unscaledPoints;

public:
        BT_DECLARE_ALIGNED_ALLOCATOR();

        
        btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));

        void addPoint(const btVector3& point, bool recalculateLocalAabb = true);

        
        btVector3* getUnscaledPoints()
        {
                return &m_unscaledPoints[0];
        }

        const btVector3* getUnscaledPoints() const
        {
                return &m_unscaledPoints[0];
        }

        const btVector3* getPoints() const
        {
                return getUnscaledPoints();
        }

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

        SIMD_FORCE_INLINE       int getNumPoints() const 
        {
                return m_unscaledPoints.size();
        }

        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;
        

        virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;


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

        
        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);

        virtual int     calculateSerializeBufferSize() const;

        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;

};

struct  btConvexHullShapeData
{
        btConvexInternalShapeData       m_convexInternalShapeData;

        btVector3FloatData      *m_unscaledPointsFloatPtr;
        btVector3DoubleData     *m_unscaledPointsDoublePtr;

        int             m_numUnscaledPoints;
        char m_padding3[4];

};


SIMD_FORCE_INLINE       int     btConvexHullShape::calculateSerializeBufferSize() const
{
        return sizeof(btConvexHullShapeData);
}


#endif //BT_CONVEX_HULL_SHAPE_H