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+/*
+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
+