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author | RĂ©mi Verschelde <rverschelde@gmail.com> | 2018-01-13 14:43:30 +0100 |
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committer | GitHub <noreply@github.com> | 2018-01-13 14:43:30 +0100 |
commit | a3ee252993e8200c856be3fe664937f9461ee268 (patch) | |
tree | af68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h | |
parent | c01575b3125ce1828f0cacb3f9f00286136f373c (diff) | |
parent | e12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (diff) |
Merge pull request #15664 from akien-mga/thirdparty
Bugfix updates to various thirdparty libraries
Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h')
-rw-r--r-- | thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h | 62 |
1 files changed, 62 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h new file mode 100644 index 0000000000..86c4151f8c --- /dev/null +++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h @@ -0,0 +1,62 @@ + +/* +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 +
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