116 lines
4.3 KiB
C++
116 lines
4.3 KiB
C++
/*
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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_CONVEX_HULL_SHAPE_H
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#define BT_CONVEX_HULL_SHAPE_H
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#include "btPolyhedralConvexShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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#include "LinearMath/btAlignedObjectArray.h"
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///The btConvexHullShape implements an implicit convex hull of an array of vertices.
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///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
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ATTRIBUTE_ALIGNED16(class)
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btConvexHullShape : public btPolyhedralConvexAabbCachingShape
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{
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btAlignedObjectArray<btVector3> m_unscaledPoints;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
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///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
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///btConvexHullShape make an internal copy of the points.
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btConvexHullShape(const btScalar* points = 0, int numPoints = 0, int stride = sizeof(btVector3));
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void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
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btVector3* getUnscaledPoints()
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{
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return &m_unscaledPoints[0];
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}
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const btVector3* getUnscaledPoints() const
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{
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return &m_unscaledPoints[0];
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}
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///getPoints is obsolete, please use getUnscaledPoints
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const btVector3* getPoints() const
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{
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return getUnscaledPoints();
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}
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void optimizeConvexHull();
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SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
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{
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return m_unscaledPoints[i] * m_localScaling;
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}
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SIMD_FORCE_INLINE int getNumPoints() const
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{
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return m_unscaledPoints.size();
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}
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virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
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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 project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
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//debugging
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virtual const char* getName() const { return "Convex"; }
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virtual int getNumVertices() const;
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virtual int getNumEdges() const;
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virtual void getEdge(int i, btVector3& pa, btVector3& pb) const;
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virtual void getVertex(int i, btVector3& vtx) const;
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virtual int getNumPlanes() const;
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virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const;
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virtual bool isInside(const btVector3& pt, btScalar tolerance) const;
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///in case we receive negative scaling
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virtual void setLocalScaling(const btVector3& scaling);
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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};
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// clang-format off
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btConvexHullShapeData
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{
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btConvexInternalShapeData m_convexInternalShapeData;
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btVector3FloatData *m_unscaledPointsFloatPtr;
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btVector3DoubleData *m_unscaledPointsDoublePtr;
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int m_numUnscaledPoints;
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char m_padding3[4];
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};
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// clang-format on
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SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
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{
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return sizeof(btConvexHullShapeData);
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}
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#endif //BT_CONVEX_HULL_SHAPE_H
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