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Shape.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_SG_BULLET_SHAPE_H_
31 #define _RL_SG_BULLET_SHAPE_H_
32 
33 #include <btBulletCollisionCommon.h>
34 #include <Inventor/actions/SoCallbackAction.h>
35 
36 #include "../Shape.h"
37 
38 namespace rl
39 {
40  namespace sg
41  {
42  namespace bullet
43  {
44  class Shape : public ::rl::sg::Shape
45  {
46  public:
47  Shape(SoVRMLShape* shape, Body* body);
48 
49  virtual ~Shape();
50 
52 
54 
55  btCollisionShape* shape;
56 
57  btTransform transform;
58 
59  protected:
60 
61  private:
62  static void triangleCallback(void* userData, SoCallbackAction* action, const SoPrimitiveVertex* v1, const SoPrimitiveVertex* v2, const SoPrimitiveVertex* v3);
63 
64  ::std::vector< int > indices;
65 
66  btTriangleIndexVertexArray* triangleIndexVertexArray;
67 
68  ::std::vector< btScalar > vertices;
69  };
70  }
71  }
72 }
73 
74 #endif // _RL_SG_BULLET_SHAPE_H_