| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | |
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| 17 | ///This file was written by Erwin Coumans |
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| 18 | |
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| 19 | |
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| 20 | #ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H |
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| 21 | #define BT_POLYHEDRAL_CONTACT_CLIPPING_H |
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| 22 | |
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| 23 | |
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| 24 | #include "LinearMath/btAlignedObjectArray.h" |
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| 25 | #include "LinearMath/btTransform.h" |
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| 26 | #include "btDiscreteCollisionDetectorInterface.h" |
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| 27 | |
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| 28 | class btConvexPolyhedron; |
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| 29 | |
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| 30 | typedef btAlignedObjectArray<btVector3> btVertexArray; |
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| 31 | |
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| 32 | // Clips a face to the back of a plane |
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| 33 | struct btPolyhedralContactClipping |
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| 34 | { |
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| 35 | static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut); |
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| 36 | static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut); |
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| 37 | |
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| 38 | static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep); |
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| 39 | |
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| 40 | ///the clipFace method is used internally |
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| 41 | static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS); |
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| 42 | |
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| 43 | }; |
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| 44 | |
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| 45 | #endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H |
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| 46 | |
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