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Differential D1739 Diff 5899 extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp

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extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp

/* /*
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org Copyright (c) 2003-2009 Erwin Coumans 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.
*/ */
//#if defined (_WIN32) || defined (__i386__) #if defined (_WIN32) || defined (__i386__)
//#define BT_USE_SSE_IN_API #define BT_USE_SSE_IN_API
//#endif #endif
#include "btConvexShape.h" #include "btConvexShape.h"
#include "btTriangleShape.h" #include "btTriangleShape.h"
#include "btSphereShape.h" #include "btSphereShape.h"
#include "btCylinderShape.h" #include "btCylinderShape.h"
#include "btConeShape.h" #include "btConeShape.h"
#include "btCapsuleShape.h" #include "btCapsuleShape.h"
#include "btConvexHullShape.h" #include "btConvexHullShape.h"
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} }
btConvexShape::~btConvexShape() btConvexShape::~btConvexShape()
{ {
} }
void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin,btVector3& witnesPtMax) const
{ {
btVector3 localAxis = dir*trans.getBasis(); btVector3 localAxis = dir*trans.getBasis();
btVector3 vtx1 = trans(localGetSupportingVertex(localAxis)); btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis)); btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
min = vtx1.dot(dir); min = vtx1.dot(dir);
max = vtx2.dot(dir); max = vtx2.dot(dir);
witnesPtMax = vtx2;
witnesPtMin = vtx1;
if(min>max) if(min>max)
{ {
btScalar tmp = min; btScalar tmp = min;
min = max; min = max;
max = tmp; max = tmp;
witnesPtMax = vtx1;
witnesPtMin = vtx2;
} }
} }
static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling) static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
{ {
btVector3 vec = localDirOrg * localScaling; btVector3 vec = localDirOrg * localScaling;
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