77 lines
3.1 KiB
C
77 lines
3.1 KiB
C
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CONVEX_HULL_SHAPE_H
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#define CONVEX_HULL_SHAPE_H
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#include "btPolyhedralConvexShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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#include "LinearMath/btAlignedObjectArray.h"
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///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
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///No connectivity is needed. localGetSupportingVertex iterates linearly though all vertices.
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///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
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///(memory is much slower then the cpu)
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ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
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{
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btAlignedObjectArray<btPoint3> m_points;
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public:
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///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
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///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
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///btConvexHullShape make an internal copy of the points.
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btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3));
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void addPoint(const btPoint3& point);
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btPoint3* getPoints()
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{
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return &m_points[0];
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}
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int getNumPoints()
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{
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return m_points.size();
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}
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virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
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//debugging
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virtual const char* getName()const {return "Convex";}
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virtual int getNumVertices() const;
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virtual int getNumEdges() const;
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virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
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virtual void getVertex(int i,btPoint3& vtx) const;
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virtual int getNumPlanes() const;
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virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
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virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
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};
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#endif //CONVEX_HULL_SHAPE_H
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