diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h | 125 |
1 files changed, 58 insertions, 67 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h index a8a80f82fe..190cbdae69 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h @@ -19,15 +19,13 @@ subject to the following restrictions: #include "btConvexShape.h" #include "btBoxShape.h" -ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape +ATTRIBUTE_ALIGNED16(class) +btTriangleShape : public btPolyhedralConvexShape { - - public: + BT_DECLARE_ALIGNED_ALLOCATOR(); -BT_DECLARE_ALIGNED_ALLOCATOR(); - - btVector3 m_vertices1[3]; + btVector3 m_vertices1[3]; virtual int getNumVertices() const { @@ -43,7 +41,7 @@ BT_DECLARE_ALIGNED_ALLOCATOR(); { return m_vertices1[index]; } - virtual void getVertex(int index,btVector3& vert) const + virtual void getVertex(int index, btVector3& vert) const { vert = m_vertices1[index]; } @@ -52,83 +50,79 @@ BT_DECLARE_ALIGNED_ALLOCATOR(); { return 3; } - - virtual void getEdge(int i,btVector3& pa,btVector3& pb) const + + virtual void getEdge(int i, btVector3& pa, btVector3& pb) const { - getVertex(i,pa); - getVertex((i+1)%3,pb); + getVertex(i, pa); + getVertex((i + 1) % 3, pb); } - - virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const + virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { -// btAssert(0); - getAabbSlow(t,aabbMin,aabbMax); + // btAssert(0); + getAabbSlow(t, aabbMin, aabbMax); } - btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const + btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir) const { - btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]); - return m_vertices1[dots.maxAxis()]; - + btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]); + return m_vertices1[dots.maxAxis()]; } - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const { - for (int i=0;i<numVectors;i++) + for (int i = 0; i < numVectors; i++) { const btVector3& dir = vectors[i]; - btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]); - supportVerticesOut[i] = m_vertices1[dots.maxAxis()]; + btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]); + supportVerticesOut[i] = m_vertices1[dots.maxAxis()]; } - } - btTriangleShape() : btPolyhedralConvexShape () - { + btTriangleShape() : btPolyhedralConvexShape() + { m_shapeType = TRIANGLE_SHAPE_PROXYTYPE; } - btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape () - { + btTriangleShape(const btVector3& p0, const btVector3& p1, const btVector3& p2) : btPolyhedralConvexShape() + { m_shapeType = TRIANGLE_SHAPE_PROXYTYPE; - m_vertices1[0] = p0; - m_vertices1[1] = p1; - m_vertices1[2] = p2; - } - + m_vertices1[0] = p0; + m_vertices1[1] = p1; + m_vertices1[2] = p2; + } - virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const + virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const { - getPlaneEquation(i,planeNormal,planeSupport); + getPlaneEquation(i, planeNormal, planeSupport); } - virtual int getNumPlanes() const + virtual int getNumPlanes() const { return 1; } - void calcNormal(btVector3& normal) const + void calcNormal(btVector3 & normal) const { - normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]); + normal = (m_vertices1[1] - m_vertices1[0]).cross(m_vertices1[2] - m_vertices1[0]); normal.normalize(); } - virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const + virtual void getPlaneEquation(int i, btVector3& planeNormal, btVector3& planeSupport) const { (void)i; calcNormal(planeNormal); planeSupport = m_vertices1[0]; } - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const + virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const { (void)mass; btAssert(0); - inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); } - virtual bool isInside(const btVector3& pt,btScalar tolerance) const + virtual bool isInside(const btVector3& pt, btScalar tolerance) const { btVector3 normal; calcNormal(normal); @@ -140,45 +134,42 @@ BT_DECLARE_ALIGNED_ALLOCATOR(); { //inside check on edge-planes int i; - for (i=0;i<3;i++) + for (i = 0; i < 3; i++) { - btVector3 pa,pb; - getEdge(i,pa,pb); - btVector3 edge = pb-pa; + btVector3 pa, pb; + getEdge(i, pa, pb); + btVector3 edge = pb - pa; btVector3 edgeNormal = edge.cross(normal); edgeNormal.normalize(); - btScalar dist = pt.dot( edgeNormal); + btScalar dist = pt.dot(edgeNormal); btScalar edgeConst = pa.dot(edgeNormal); dist -= edgeConst; if (dist < -tolerance) return false; } - + return true; } return false; } - //debugging - virtual const char* getName()const - { - return "Triangle"; - } - - virtual int getNumPreferredPenetrationDirections() const - { - return 2; - } - - virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const - { - calcNormal(penetrationVector); - if (index) - penetrationVector *= btScalar(-1.); - } + //debugging + virtual const char* getName() const + { + return "Triangle"; + } + virtual int getNumPreferredPenetrationDirections() const + { + return 2; + } + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + calcNormal(penetrationVector); + if (index) + penetrationVector *= btScalar(-1.); + } }; -#endif //BT_OBB_TRIANGLE_MINKOWSKI_H - +#endif //BT_OBB_TRIANGLE_MINKOWSKI_H |