| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef BU_SHAPE |
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| 17 | #define BU_SHAPE |
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| 18 | |
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| 19 | #include "LinearMath/btPoint3.h" |
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| 20 | #include "LinearMath/btMatrix3x3.h" |
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| 21 | #include "LinearMath/btAabbUtil2.h" |
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| 22 | #include "btConvexInternalShape.h" |
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| 23 | |
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| 24 | |
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| 25 | ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. |
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| 26 | class btPolyhedralConvexShape : public btConvexInternalShape |
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| 27 | { |
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| 28 | |
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| 29 | protected: |
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| 30 | btVector3 m_localAabbMin; |
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| 31 | btVector3 m_localAabbMax; |
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| 32 | bool m_isLocalAabbValid; |
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| 33 | |
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| 34 | public: |
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| 35 | |
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| 36 | btPolyhedralConvexShape(); |
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| 37 | |
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| 38 | //brute force implementations |
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| 39 | |
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| 40 | virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
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| 41 | virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
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| 42 | |
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| 43 | |
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| 44 | virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
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| 45 | |
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| 46 | |
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| 47 | void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) |
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| 48 | { |
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| 49 | m_isLocalAabbValid = true; |
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| 50 | m_localAabbMin = aabbMin; |
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| 51 | m_localAabbMax = aabbMax; |
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| 52 | } |
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| 53 | |
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| 54 | inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const |
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| 55 | { |
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| 56 | btAssert(m_isLocalAabbValid); |
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| 57 | aabbMin = m_localAabbMin; |
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| 58 | aabbMax = m_localAabbMax; |
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| 59 | } |
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| 60 | |
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| 61 | inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const |
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| 62 | { |
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| 63 | |
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| 64 | //lazy evaluation of local aabb |
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| 65 | btAssert(m_isLocalAabbValid); |
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| 66 | btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); |
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| 67 | } |
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| 68 | |
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| 69 | |
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| 70 | virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
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| 71 | |
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| 72 | virtual void setLocalScaling(const btVector3& scaling); |
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| 73 | |
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| 74 | void recalcLocalAabb(); |
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| 75 | |
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| 76 | virtual int getNumVertices() const = 0 ; |
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| 77 | virtual int getNumEdges() const = 0; |
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| 78 | virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const = 0; |
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| 79 | virtual void getVertex(int i,btPoint3& vtx) const = 0; |
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| 80 | virtual int getNumPlanes() const = 0; |
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| 81 | virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const = 0; |
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| 82 | // virtual int getIndex(int i) const = 0 ; |
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| 83 | |
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| 84 | virtual bool isInside(const btPoint3& pt,btScalar tolerance) const = 0; |
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| 85 | |
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| 86 | /// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp |
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| 87 | class Hull* m_optionalHull; |
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| 88 | |
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| 89 | }; |
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| 90 | |
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| 91 | #endif //BU_SHAPE |
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