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;
};
 
// clang-format off
 
struct  btConvexHullShapeData
{
    btConvexInternalShapeData   m_convexInternalShapeData;
 
    btVector3FloatData  *m_unscaledPointsFloatPtr;
    btVector3DoubleData *m_unscaledPointsDoublePtr;
 
    int     m_numUnscaledPoints;
    char m_padding3[4];
 
};
 
// clang-format on
 
SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
{
    return sizeof(btConvexHullShapeData);
}
 
#endif  //BT_CONVEX_HULL_SHAPE_H