Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 61 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btShapeHull.h b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btShapeHull.h
new file mode 100644
index 0000000000..e959f198b6
--- /dev/null
+++ b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btShapeHull.h
@@ -0,0 +1,61 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  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.
+*/
+
+///btShapeHull implemented by John McCutchan.
+
+#ifndef BT_SHAPE_HULL_H
+#define BT_SHAPE_HULL_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+
+
+///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
+///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
+///It approximates the convex hull using the supporting vertex of 42 directions.
+ATTRIBUTE_ALIGNED16(class) btShapeHull
+{
+protected:
+
+	btAlignedObjectArray<btVector3> m_vertices;
+	btAlignedObjectArray<unsigned int> m_indices;
+	unsigned int m_numIndices;
+	const btConvexShape* m_shape;
+
+	static btVector3* getUnitSpherePoints();
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btShapeHull (const btConvexShape* shape);
+	~btShapeHull ();
+
+	bool buildHull (btScalar margin);
+
+	int numTriangles () const;
+	int numVertices () const;
+	int numIndices () const;
+
+	const btVector3* getVertexPointer() const
+	{
+		return &m_vertices[0];
+	}
+	const unsigned int* getIndexPointer() const
+	{
+		return &m_indices[0];
+	}
+};
+
+#endif //BT_SHAPE_HULL_H