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authorRĂ©mi Verschelde <rverschelde@gmail.com>2018-01-13 14:43:30 +0100
committerGitHub <noreply@github.com>2018-01-13 14:43:30 +0100
commita3ee252993e8200c856be3fe664937f9461ee268 (patch)
treeaf68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
parentc01575b3125ce1828f0cacb3f9f00286136f373c (diff)
parente12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (diff)
Merge pull request #15664 from akien-mga/thirdparty
Bugfix updates to various thirdparty libraries
Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h')
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h49
1 files changed, 49 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
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+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
+
+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.
+*/
+
+
+///This file was written by Erwin Coumans
+
+
+#ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
+#define BT_POLYHEDRAL_CONTACT_CLIPPING_H
+
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btTransform.h"
+#include "btDiscreteCollisionDetectorInterface.h"
+
+class btConvexPolyhedron;
+
+typedef btAlignedObjectArray<btVector3> btVertexArray;
+
+// Clips a face to the back of a plane
+struct btPolyhedralContactClipping
+{
+
+ static void clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btVertexArray& worldVertsB1,btVertexArray& worldVertsB2,btDiscreteCollisionDetectorInterface::Result& resultOut);
+
+ static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1,btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
+
+
+ static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut);
+
+ ///the clipFace method is used internally
+ static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
+
+};
+
+#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H
+