94 lines
3.3 KiB
C++
94 lines
3.3 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 BU_SHAPE
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#define BU_SHAPE
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#include "LinearMath/btPoint3.h"
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#include "LinearMath/btMatrix3x3.h"
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#include "btConvexInternalShape.h"
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///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes.
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class btPolyhedralConvexShape : public btConvexInternalShape
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{
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protected:
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btVector3 m_localAabbMin;
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btVector3 m_localAabbMax;
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bool m_isLocalAabbValid;
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public:
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btPolyhedralConvexShape();
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//brute force implementations
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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 void calculateLocalInertia(btScalar mass,btVector3& inertia);
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inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
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{
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//lazy evaluation of local aabb
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btAssert(m_isLocalAabbValid);
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btAssert(m_localAabbMin.getX() <= m_localAabbMax.getX());
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btAssert(m_localAabbMin.getY() <= m_localAabbMax.getY());
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btAssert(m_localAabbMin.getZ() <= m_localAabbMax.getZ());
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btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
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btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
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btMatrix3x3 abs_b = trans.getBasis().absolute();
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btPoint3 center = trans(localCenter);
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btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
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abs_b[1].dot(localHalfExtents),
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abs_b[2].dot(localHalfExtents));
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extent += btVector3(margin,margin,margin);
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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void recalcLocalAabb();
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virtual int getNumVertices() const = 0 ;
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virtual int getNumEdges() const = 0;
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virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const = 0;
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virtual void getVertex(int i,btPoint3& vtx) const = 0;
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virtual int getNumPlanes() const = 0;
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virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const = 0;
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// virtual int getIndex(int i) const = 0 ;
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virtual bool isInside(const btPoint3& pt,btScalar tolerance) const = 0;
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/// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
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class Hull* m_optionalHull;
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};
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#endif //BU_SHAPE
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