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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp | 218 |
1 files changed, 218 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp new file mode 100644 index 0000000000..52f346bf72 --- /dev/null +++ b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp @@ -0,0 +1,218 @@ +/* +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. +*/ + +#include "btTetrahedronShape.h" +#include "LinearMath/btMatrix3x3.h" + +btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); + addVertex(pt1); +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); + addVertex(pt1); + addVertex(pt2); +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); + addVertex(pt1); + addVertex(pt2); + addVertex(pt3); +} + + +void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ +#if 1 + btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax); +#else + aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); + aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); + + //just transform the vertices in worldspace, and take their AABB + for (int i=0;i<m_numVertices;i++) + { + btVector3 worldVertex = t(m_vertices[i]); + aabbMin.setMin(worldVertex); + aabbMax.setMax(worldVertex); + } +#endif +} + + + + + +void btBU_Simplex1to4::addVertex(const btVector3& pt) +{ + m_vertices[m_numVertices++] = pt; + recalcLocalAabb(); +} + + +int btBU_Simplex1to4::getNumVertices() const +{ + return m_numVertices; +} + +int btBU_Simplex1to4::getNumEdges() const +{ + //euler formula, F-E+V = 2, so E = F+V-2 + + switch (m_numVertices) + { + case 0: + return 0; + case 1: return 0; + case 2: return 1; + case 3: return 3; + case 4: return 6; + + + } + + return 0; +} + +void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const +{ + + switch (m_numVertices) + { + + case 2: + pa = m_vertices[0]; + pb = m_vertices[1]; + break; + case 3: + switch (i) + { + case 0: + pa = m_vertices[0]; + pb = m_vertices[1]; + break; + case 1: + pa = m_vertices[1]; + pb = m_vertices[2]; + break; + case 2: + pa = m_vertices[2]; + pb = m_vertices[0]; + break; + + } + break; + case 4: + switch (i) + { + case 0: + pa = m_vertices[0]; + pb = m_vertices[1]; + break; + case 1: + pa = m_vertices[1]; + pb = m_vertices[2]; + break; + case 2: + pa = m_vertices[2]; + pb = m_vertices[0]; + break; + case 3: + pa = m_vertices[0]; + pb = m_vertices[3]; + break; + case 4: + pa = m_vertices[1]; + pb = m_vertices[3]; + break; + case 5: + pa = m_vertices[2]; + pb = m_vertices[3]; + break; + } + + } + + + + +} + +void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const +{ + vtx = m_vertices[i]; +} + +int btBU_Simplex1to4::getNumPlanes() const +{ + switch (m_numVertices) + { + case 0: + return 0; + case 1: + return 0; + case 2: + return 0; + case 3: + return 2; + case 4: + return 4; + default: + { + } + } + return 0; +} + + +void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const +{ + +} + +int btBU_Simplex1to4::getIndex(int ) const +{ + return 0; +} + +bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const +{ + return false; +} + |