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Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h

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extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h

/* /*
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software. In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: subject to the following restrictions:
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. 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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
///This file was written by Erwin Coumans ///This file was written by Erwin Coumans
#ifndef _BT_POLYHEDRAL_FEATURES_H #ifndef _BT_POLYHEDRAL_FEATURES_H
#define _BT_POLYHEDRAL_FEATURES_H #define _BT_POLYHEDRAL_FEATURES_H
#include "LinearMath/btTransform.h" #include "LinearMath/btTransform.h"
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#define TEST_INTERNAL_OBJECTS 1 #define TEST_INTERNAL_OBJECTS 1
struct btFace struct btFace
{ {
btAlignedObjectArray<int> m_indices; btAlignedObjectArray<int> m_indices;
// btAlignedObjectArray<int> m_connectedFaces; // btAlignedObjectArray<int> m_connectedFaces;
btScalar m_plane[4]; btScalar m_plane[4];
}; };
ATTRIBUTE_ALIGNED16(class)
ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron btConvexPolyhedron
{ {
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
btConvexPolyhedron(); btConvexPolyhedron();
virtual ~btConvexPolyhedron(); virtual ~btConvexPolyhedron();
btAlignedObjectArray<btVector3> m_vertices; btAlignedObjectArray<btVector3> m_vertices;
btAlignedObjectArray<btFace> m_faces; btAlignedObjectArray<btFace> m_faces;
btAlignedObjectArray<btVector3> m_uniqueEdges; btAlignedObjectArray<btVector3> m_uniqueEdges;
btVector3 m_localCenter; btVector3 m_localCenter;
btVector3 m_extents; btVector3 m_extents;
btScalar m_radius; btScalar m_radius;
btVector3 mC; btVector3 mC;
btVector3 mE; btVector3 mE;
void initialize(); void initialize();
void initialize2();
bool testContainment() const; bool testContainment() const;
void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
}; };
#endif //_BT_POLYHEDRAL_FEATURES_H #endif //_BT_POLYHEDRAL_FEATURES_H