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- /*
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2011 Advanced Micro Devices, Inc. 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.
- */
-
-
- ///This file was written by Erwin Coumans
-
-
- #ifndef _BT_POLYHEDRAL_FEATURES_H
- #define _BT_POLYHEDRAL_FEATURES_H
-
- #include "LinearMath/btTransform.h"
- #include "LinearMath/btAlignedObjectArray.h"
-
- #define TEST_INTERNAL_OBJECTS 1
-
-
- struct btFace
- {
- btAlignedObjectArray<int> m_indices;
- // btAlignedObjectArray<int> m_connectedFaces;
- btScalar m_plane[4];
- };
-
-
- class btConvexPolyhedron
- {
- public:
- btConvexPolyhedron();
- virtual ~btConvexPolyhedron();
-
- btAlignedObjectArray<btVector3> m_vertices;
- btAlignedObjectArray<btFace> m_faces;
- btAlignedObjectArray<btVector3> m_uniqueEdges;
-
- btVector3 m_localCenter;
- btVector3 m_extents;
- btScalar m_radius;
- btVector3 mC;
- btVector3 mE;
-
- void initialize();
- bool testContainment() const;
-
- void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
- };
-
-
- #endif //_BT_POLYHEDRAL_FEATURES_H
-
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