60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2011 Advanced Micro Devices, Inc. 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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///This file was written by Erwin Coumans
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#ifndef _BT_POLYHEDRAL_FEATURES_H
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#define _BT_POLYHEDRAL_FEATURES_H
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#define TEST_INTERNAL_OBJECTS 1
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struct btFace
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{
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btAlignedObjectArray<int> m_indices;
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// btAlignedObjectArray<int> m_connectedFaces;
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btScalar m_plane[4];
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};
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ATTRIBUTE_ALIGNED16(class)
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btConvexPolyhedron
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{
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btConvexPolyhedron();
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virtual ~btConvexPolyhedron();
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btAlignedObjectArray<btVector3> m_vertices;
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btAlignedObjectArray<btFace> m_faces;
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btAlignedObjectArray<btVector3> m_uniqueEdges;
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btVector3 m_localCenter;
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btVector3 m_extents;
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btScalar m_radius;
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btVector3 mC;
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btVector3 mE;
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void initialize();
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void initialize2();
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bool testContainment() const;
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void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
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};
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#endif //_BT_POLYHEDRAL_FEATURES_H
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