62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
|
|
||
|
|
/*
|
||
|
|
Copyright (c) 2012 Advanced Micro Devices, Inc.
|
||
|
|
|
||
|
|
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.
|
||
|
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
|
including commercial applications, and to alter it and redistribute it freely,
|
||
|
|
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.
|
||
|
|
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.
|
||
|
|
*/
|
||
|
|
//Originally written by Erwin Coumans
|
||
|
|
|
||
|
|
#ifndef _BT_CONVEX_UTILITY_H
|
||
|
|
#define _BT_CONVEX_UTILITY_H
|
||
|
|
|
||
|
|
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||
|
|
#include "Bullet3Common/b3Transform.h"
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
struct b3MyFace
|
||
|
|
{
|
||
|
|
b3AlignedObjectArray<int> m_indices;
|
||
|
|
b3Scalar m_plane[4];
|
||
|
|
};
|
||
|
|
|
||
|
|
B3_ATTRIBUTE_ALIGNED16(class) b3ConvexUtility
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
B3_DECLARE_ALIGNED_ALLOCATOR();
|
||
|
|
|
||
|
|
b3Vector3 m_localCenter;
|
||
|
|
b3Vector3 m_extents;
|
||
|
|
b3Vector3 mC;
|
||
|
|
b3Vector3 mE;
|
||
|
|
b3Scalar m_radius;
|
||
|
|
|
||
|
|
b3AlignedObjectArray<b3Vector3> m_vertices;
|
||
|
|
b3AlignedObjectArray<b3MyFace> m_faces;
|
||
|
|
b3AlignedObjectArray<b3Vector3> m_uniqueEdges;
|
||
|
|
|
||
|
|
|
||
|
|
b3ConvexUtility()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
virtual ~b3ConvexUtility();
|
||
|
|
|
||
|
|
bool initializePolyhedralFeatures(const b3Vector3* orgVertices, int numVertices, bool mergeCoplanarTriangles=true);
|
||
|
|
|
||
|
|
void initialize();
|
||
|
|
bool testContainment() const;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
#endif
|
||
|
|
|