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source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h @ 10043

Last change on this file since 10043 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 2.2 KB
RevLine 
[8393]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
16
17///This file was written by Erwin Coumans
18
19
20#ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
21#define BT_POLYHEDRAL_CONTACT_CLIPPING_H
22
23
24#include "LinearMath/btAlignedObjectArray.h"
25#include "LinearMath/btTransform.h"
26#include "btDiscreteCollisionDetectorInterface.h"
27
28class btConvexPolyhedron;
29
30typedef btAlignedObjectArray<btVector3> btVertexArray;
31
32// Clips a face to the back of a plane
33struct btPolyhedralContactClipping
34{
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);
36        static void     clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA,  const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
37
38        static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
39
40        ///the clipFace method is used internally
41        static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
42
43};
44
45#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H
46
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