Bullet Collision Detection & Physics Library: btConvexPolyhedron.h Source File

Bullet Collision Detection & Physics Library

btConvexPolyhedron.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
17
18#ifndef _BT_POLYHEDRAL_FEATURES_H
19#define _BT_POLYHEDRAL_FEATURES_H
20
21#include "LinearMath/btTransform.h"
22#include "LinearMath/btAlignedObjectArray.h"
23
24#define TEST_INTERNAL_OBJECTS 1
25
26 struct btFace
27{
28 btAlignedObjectArray<int> m_indices;
29 // btAlignedObjectArray<int> m_connectedFaces;
30 btScalar m_plane[4];
31};
32
33 ATTRIBUTE_ALIGNED16(class)
34 btConvexPolyhedron
35{
36public:
37 BT_DECLARE_ALIGNED_ALLOCATOR();
38
39 btConvexPolyhedron();
40 virtual ~btConvexPolyhedron();
41
42 btAlignedObjectArray<btVector3> m_vertices;
43 btAlignedObjectArray<btFace> m_faces;
44 btAlignedObjectArray<btVector3> m_uniqueEdges;
45
46 btVector3 m_localCenter;
47 btVector3 m_extents;
48 btScalar m_radius;
49 btVector3 mC;
50 btVector3 mE;
51
52 void initialize();
53 void initialize2();
54 bool testContainment() const;
55
56 void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const;
57};
58
59#endif //_BT_POLYHEDRAL_FEATURES_H
btAlignedObjectArray.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
btTransform.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btConvexPolyhedron::m_localCenter
btVector3 m_localCenter
Definition btConvexPolyhedron.h:46
btConvexPolyhedron::project
void project(const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
Definition btConvexPolyhedron.cpp:277
btConvexPolyhedron::testContainment
bool testContainment() const
Definition btConvexPolyhedron.cpp:71
btConvexPolyhedron::m_vertices
btAlignedObjectArray< btVector3 > m_vertices
Definition btConvexPolyhedron.h:42
btConvexPolyhedron::initialize2
void initialize2()
Definition btConvexPolyhedron.cpp:177
btConvexPolyhedron::m_faces
btAlignedObjectArray< btFace > m_faces
Definition btConvexPolyhedron.h:43
btConvexPolyhedron::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvexPolyhedron::mC
btVector3 mC
Definition btConvexPolyhedron.h:49
btConvexPolyhedron::m_radius
btScalar m_radius
Definition btConvexPolyhedron.h:48
btConvexPolyhedron::btConvexPolyhedron
btConvexPolyhedron()
This file was written by Erwin Coumans Separating axis rest based on work from Pierre Terdiman,...
Definition btConvexPolyhedron.cpp:23
btConvexPolyhedron::mE
btVector3 mE
Definition btConvexPolyhedron.h:50
btConvexPolyhedron::m_uniqueEdges
btAlignedObjectArray< btVector3 > m_uniqueEdges
Definition btConvexPolyhedron.h:44
btConvexPolyhedron::m_extents
btVector3 m_extents
Definition btConvexPolyhedron.h:47
btConvexPolyhedron::initialize
void initialize()
Definition btConvexPolyhedron.cpp:105
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btFace
Definition btConvexPolyhedron.h:27
btFace::m_indices
btAlignedObjectArray< int > m_indices
Definition btConvexPolyhedron.h:28
btFace::m_plane
btScalar m_plane[4]
Definition btConvexPolyhedron.h:30