2017-08-01 14:30:58 +02:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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 BT_POLYHEDRAL_CONVEX_SHAPE_H
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#define BT_POLYHEDRAL_CONVEX_SHAPE_H
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#include "LinearMath/btMatrix3x3.h"
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#include "btConvexInternalShape.h"
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class btConvexPolyhedron;
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///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
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ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
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{
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protected:
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btConvexPolyhedron* m_polyhedron;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btPolyhedralConvexShape();
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virtual ~btPolyhedralConvexShape();
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///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
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///experimental/work-in-progress
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virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0);
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2018-09-07 16:11:04 +02:00
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virtual void setPolyhedralFeatures(btConvexPolyhedron& polyhedron);
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2017-08-01 14:30:58 +02:00
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const btConvexPolyhedron* getConvexPolyhedron() const
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{
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return m_polyhedron;
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}
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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) const;
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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,btVector3& pa,btVector3& pb) const = 0;
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virtual void getVertex(int i,btVector3& vtx) const = 0;
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virtual int getNumPlanes() const = 0;
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virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
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// virtual int getIndex(int i) const = 0 ;
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virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
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};
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///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
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class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
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{
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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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protected:
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void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
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{
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m_isLocalAabbValid = true;
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m_localAabbMin = aabbMin;
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m_localAabbMax = aabbMax;
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}
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inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
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{
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btAssert(m_isLocalAabbValid);
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aabbMin = m_localAabbMin;
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aabbMax = m_localAabbMax;
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}
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protected:
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btPolyhedralConvexAabbCachingShape();
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public:
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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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btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
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}
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virtual void setLocalScaling(const btVector3& scaling);
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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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};
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#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
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