virtualx-engine/modules/bullet/btRayShape.h

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/*  btRayShape.h                                                         */
/*************************************************************************/
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/// IMPORTANT The class name and filename was created by following Bullet writing rules for an easy (eventually) porting to bullet
/// This shape is a custom shape that is not present to Bullet physics engine
#ifndef BTRAYSHAPE_H
#define BTRAYSHAPE_H

#include <BulletCollision/CollisionShapes/btConvexInternalShape.h>

/**
	@author AndreaCatania
*/

/// Ray shape around z axis
ATTRIBUTE_ALIGNED16(class)
btRayShape : public btConvexInternalShape {

	btScalar m_length;
	bool slipsOnSlope;
	/// The default axis is the z
	btVector3 m_shapeAxis;

	btTransform m_cacheSupportPoint;
	btScalar m_cacheScaledLength;

public:
	BT_DECLARE_ALIGNED_ALLOCATOR();

	btRayShape(btScalar length);
	virtual ~btRayShape();

	void setLength(btScalar p_length);
	btScalar getLength() const { return m_length; }

	virtual void setMargin(btScalar margin);

	void setSlipsOnSlope(bool p_slipsOnSlope);
	bool getSlipsOnSlope() const { return slipsOnSlope; }

	const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
	const btScalar &getScaledLength() const { return m_cacheScaledLength; }

	virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const;
#ifndef __SPU__
	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const;
#endif //#ifndef __SPU__

	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const;

	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
	virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const;

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

	virtual const char *getName() const {
		return "RayZ";
	}
#endif //__SPU__

	virtual int getNumPreferredPenetrationDirections() const;
	virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const;

private:
	void reload_cache();
};

#endif // BTRAYSHAPE_H