292 lines
8.3 KiB
C++
292 lines
8.3 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_OBB_BOX_MINKOWSKI_H
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#define BT_OBB_BOX_MINKOWSKI_H
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#include "btPolyhedralConvexShape.h"
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#include "btCollisionMargin.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btMinMax.h"
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///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
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ATTRIBUTE_ALIGNED16(class)
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btBoxShape : public btPolyhedralConvexShape
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{
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//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btVector3 getHalfExtentsWithMargin() const
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{
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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btVector3 margin(getMargin(), getMargin(), getMargin());
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halfExtents += margin;
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return halfExtents;
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}
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const btVector3& getHalfExtentsWithoutMargin() const
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{
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return m_implicitShapeDimensions; //scaling is included, margin is not
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}
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virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
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{
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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btVector3 margin(getMargin(), getMargin(), getMargin());
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halfExtents += margin;
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return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
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btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
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btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
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}
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SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
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{
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const btVector3& halfExtents = getHalfExtentsWithoutMargin();
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return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
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btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
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btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
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}
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
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{
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const btVector3& halfExtents = getHalfExtentsWithoutMargin();
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for (int i = 0; i < numVectors; i++)
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{
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const btVector3& vec = vectors[i];
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supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
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btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
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btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
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}
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}
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btBoxShape(const btVector3& boxHalfExtents);
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virtual void setMargin(btScalar collisionMargin)
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{
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//correct the m_implicitShapeDimensions for the margin
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btVector3 oldMargin(getMargin(), getMargin(), getMargin());
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btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
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btConvexInternalShape::setMargin(collisionMargin);
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btVector3 newMargin(getMargin(), getMargin(), getMargin());
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m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
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}
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virtual void setLocalScaling(const btVector3& scaling)
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{
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btVector3 oldMargin(getMargin(), getMargin(), getMargin());
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btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
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btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
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btConvexInternalShape::setLocalScaling(scaling);
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m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
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}
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virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
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virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
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virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
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{
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//this plane might not be aligned...
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btVector4 plane;
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getPlaneEquation(plane, i);
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planeNormal = btVector3(plane.getX(), plane.getY(), plane.getZ());
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planeSupport = localGetSupportingVertex(-planeNormal);
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}
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virtual int getNumPlanes() const
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{
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return 6;
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}
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virtual int getNumVertices() const
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{
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return 8;
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}
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virtual int getNumEdges() const
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{
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return 12;
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}
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virtual void getVertex(int i, btVector3& vtx) const
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{
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btVector3 halfExtents = getHalfExtentsWithMargin();
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vtx = btVector3(
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halfExtents.x() * (1 - (i & 1)) - halfExtents.x() * (i & 1),
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halfExtents.y() * (1 - ((i & 2) >> 1)) - halfExtents.y() * ((i & 2) >> 1),
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halfExtents.z() * (1 - ((i & 4) >> 2)) - halfExtents.z() * ((i & 4) >> 2));
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}
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virtual void getPlaneEquation(btVector4 & plane, int i) const
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{
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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switch (i)
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{
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case 0:
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plane.setValue(btScalar(1.), btScalar(0.), btScalar(0.), -halfExtents.x());
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break;
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case 1:
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plane.setValue(btScalar(-1.), btScalar(0.), btScalar(0.), -halfExtents.x());
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break;
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case 2:
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plane.setValue(btScalar(0.), btScalar(1.), btScalar(0.), -halfExtents.y());
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break;
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case 3:
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plane.setValue(btScalar(0.), btScalar(-1.), btScalar(0.), -halfExtents.y());
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break;
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case 4:
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plane.setValue(btScalar(0.), btScalar(0.), btScalar(1.), -halfExtents.z());
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break;
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case 5:
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plane.setValue(btScalar(0.), btScalar(0.), btScalar(-1.), -halfExtents.z());
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break;
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default:
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btAssert(0);
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}
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}
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virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
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//virtual void getEdge(int i,Edge& edge) const
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{
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int edgeVert0 = 0;
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int edgeVert1 = 0;
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switch (i)
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{
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case 0:
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edgeVert0 = 0;
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edgeVert1 = 1;
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break;
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case 1:
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edgeVert0 = 0;
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edgeVert1 = 2;
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break;
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case 2:
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edgeVert0 = 1;
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edgeVert1 = 3;
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break;
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case 3:
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edgeVert0 = 2;
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edgeVert1 = 3;
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break;
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case 4:
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edgeVert0 = 0;
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edgeVert1 = 4;
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break;
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case 5:
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edgeVert0 = 1;
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edgeVert1 = 5;
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break;
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case 6:
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edgeVert0 = 2;
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edgeVert1 = 6;
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break;
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case 7:
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edgeVert0 = 3;
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edgeVert1 = 7;
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break;
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case 8:
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edgeVert0 = 4;
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edgeVert1 = 5;
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break;
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case 9:
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edgeVert0 = 4;
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edgeVert1 = 6;
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break;
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case 10:
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edgeVert0 = 5;
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edgeVert1 = 7;
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break;
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case 11:
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edgeVert0 = 6;
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edgeVert1 = 7;
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break;
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default:
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btAssert(0);
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}
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getVertex(edgeVert0, pa);
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getVertex(edgeVert1, pb);
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}
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virtual bool isInside(const btVector3& pt, btScalar tolerance) const
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{
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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//btScalar minDist = 2*tolerance;
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bool result = (pt.x() <= (halfExtents.x() + tolerance)) &&
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(pt.x() >= (-halfExtents.x() - tolerance)) &&
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(pt.y() <= (halfExtents.y() + tolerance)) &&
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(pt.y() >= (-halfExtents.y() - tolerance)) &&
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(pt.z() <= (halfExtents.z() + tolerance)) &&
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(pt.z() >= (-halfExtents.z() - tolerance));
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return result;
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}
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//debugging
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virtual const char* getName() const
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{
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return "Box";
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}
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virtual int getNumPreferredPenetrationDirections() const
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{
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return 6;
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}
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virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
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{
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switch (index)
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{
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case 0:
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penetrationVector.setValue(btScalar(1.), btScalar(0.), btScalar(0.));
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break;
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case 1:
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penetrationVector.setValue(btScalar(-1.), btScalar(0.), btScalar(0.));
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break;
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case 2:
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penetrationVector.setValue(btScalar(0.), btScalar(1.), btScalar(0.));
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break;
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case 3:
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penetrationVector.setValue(btScalar(0.), btScalar(-1.), btScalar(0.));
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break;
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case 4:
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penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(1.));
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break;
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case 5:
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penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(-1.));
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break;
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default:
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btAssert(0);
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}
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}
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};
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#endif //BT_OBB_BOX_MINKOWSKI_H
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