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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleShape.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleShape.h | 184 |
1 files changed, 0 insertions, 184 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleShape.h b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleShape.h deleted file mode 100644 index a8a80f82fe..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleShape.h +++ /dev/null @@ -1,184 +0,0 @@ -/* -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. -*/ - -#ifndef BT_OBB_TRIANGLE_MINKOWSKI_H -#define BT_OBB_TRIANGLE_MINKOWSKI_H - -#include "btConvexShape.h" -#include "btBoxShape.h" - -ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape -{ - - -public: - -BT_DECLARE_ALIGNED_ALLOCATOR(); - - btVector3 m_vertices1[3]; - - virtual int getNumVertices() const - { - return 3; - } - - btVector3& getVertexPtr(int index) - { - return m_vertices1[index]; - } - - const btVector3& getVertexPtr(int index) const - { - return m_vertices1[index]; - } - virtual void getVertex(int index,btVector3& vert) const - { - vert = m_vertices1[index]; - } - - virtual int getNumEdges() const - { - return 3; - } - - virtual void getEdge(int i,btVector3& pa,btVector3& pb) const - { - getVertex(i,pa); - getVertex((i+1)%3,pb); - } - - - virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const - { -// btAssert(0); - getAabbSlow(t,aabbMin,aabbMax); - } - - btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const - { - 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 - { - 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()]; - } - - } - - btTriangleShape() : btPolyhedralConvexShape () - { - m_shapeType = TRIANGLE_SHAPE_PROXYTYPE; - } - - 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; - } - - - virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const - { - getPlaneEquation(i,planeNormal,planeSupport); - } - - virtual int getNumPlanes() const - { - return 1; - } - - void calcNormal(btVector3& normal) const - { - 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 - { - (void)i; - calcNormal(planeNormal); - planeSupport = m_vertices1[0]; - } - - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const - { - (void)mass; - btAssert(0); - inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); - } - - virtual bool isInside(const btVector3& pt,btScalar tolerance) const - { - btVector3 normal; - calcNormal(normal); - //distance to plane - btScalar dist = pt.dot(normal); - btScalar planeconst = m_vertices1[0].dot(normal); - dist -= planeconst; - if (dist >= -tolerance && dist <= tolerance) - { - //inside check on edge-planes - int i; - for (i=0;i<3;i++) - { - btVector3 pa,pb; - getEdge(i,pa,pb); - btVector3 edge = pb-pa; - btVector3 edgeNormal = edge.cross(normal); - edgeNormal.normalize(); - 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.); - } - - -}; - -#endif //BT_OBB_TRIANGLE_MINKOWSKI_H - |