1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 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. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 16 ///btShapeHull implemented by John McCutchan. 17 18 #ifndef BT_SHAPE_HULL_H 19 #define BT_SHAPE_HULL_H 20 21 #include "LinearMath/btAlignedObjectArray.h" 22 #include "BulletCollision/CollisionShapes/btConvexShape.h" 23 24 25 ///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices. 26 ///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object. 27 ///It approximates the convex hull using the supporting vertex of 42 directions. ATTRIBUTE_ALIGNED16(class)28ATTRIBUTE_ALIGNED16(class) btShapeHull 29 { 30 protected: 31 32 btAlignedObjectArray<btVector3> m_vertices; 33 btAlignedObjectArray<unsigned int> m_indices; 34 unsigned int m_numIndices; 35 const btConvexShape* m_shape; 36 37 static btVector3* getUnitSpherePoints(); 38 39 public: 40 BT_DECLARE_ALIGNED_ALLOCATOR(); 41 42 btShapeHull (const btConvexShape* shape); 43 ~btShapeHull (); 44 45 bool buildHull (btScalar margin); 46 47 int numTriangles () const; 48 int numVertices () const; 49 int numIndices () const; 50 51 const btVector3* getVertexPointer() const 52 { 53 return &m_vertices[0]; 54 } 55 const unsigned int* getIndexPointer() const 56 { 57 return &m_indices[0]; 58 } 59 }; 60 61 #endif //BT_SHAPE_HULL_H 62