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

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btConvexPolyhedron.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16
18
19
20 #ifndef _BT_POLYHEDRAL_FEATURES_H
21 #define _BT_POLYHEDRAL_FEATURES_H
22
23 #include "LinearMath/btTransform.h"
24 #include "LinearMath/btAlignedObjectArray.h"
25
26 #define TEST_INTERNAL_OBJECTS 1
27
28
29 struct btFace
30 {
31 btAlignedObjectArray<int> m_indices;
32 // btAlignedObjectArray<int> m_connectedFaces;
33 btScalar m_plane[4];
34 };
35
36
37 ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron
38 {
39 public:
40
41 BT_DECLARE_ALIGNED_ALLOCATOR();
42
43 btConvexPolyhedron();
44 virtual ~btConvexPolyhedron();
45
46 btAlignedObjectArray<btVector3> m_vertices;
47 btAlignedObjectArray<btFace> m_faces;
48 btAlignedObjectArray<btVector3> m_uniqueEdges;
49
50 btVector3 m_localCenter;
51 btVector3 m_extents;
52 btScalar m_radius;
53 btVector3 mC;
54 btVector3 mE;
55
56 void initialize();
57 bool testContainment() const;
58
59 void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
60 };
61
62
63 #endif //_BT_POLYHEDRAL_FEATURES_H
64
65
btConvexPolyhedron::m_vertices
btAlignedObjectArray< btVector3 > m_vertices
Definition: btConvexPolyhedron.h:46
btAlignedObjectArray< int >
btConvexPolyhedron::mC
btVector3 mC
Definition: btConvexPolyhedron.h:53
btConvexPolyhedron::m_uniqueEdges
btAlignedObjectArray< btVector3 > m_uniqueEdges
Definition: btConvexPolyhedron.h:48
btTransform.h
btConvexPolyhedron::m_localCenter
btVector3 m_localCenter
Definition: btConvexPolyhedron.h:50
btFace::m_indices
btAlignedObjectArray< int > m_indices
Definition: btConvexPolyhedron.h:31
btConvexPolyhedron::m_faces
btAlignedObjectArray< btFace > m_faces
Definition: btConvexPolyhedron.h:47
btConvexPolyhedron::mE
btVector3 mE
Definition: btConvexPolyhedron.h:54
btConvexPolyhedron::m_radius
btScalar m_radius
Definition: btConvexPolyhedron.h:52
btConvexPolyhedron
Definition: btConvexPolyhedron.h:37
btFace
Definition: btConvexPolyhedron.h:29
btConvexPolyhedron::m_extents
btVector3 m_extents
Definition: btConvexPolyhedron.h:51
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btFace::m_plane
btScalar m_plane[4]
Definition: btConvexPolyhedron.h:33
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btAlignedObjectArray.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278