[8393] | 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 | |
---|
| 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 | |
---|
| 28 | class btConvexPolyhedron; |
---|
| 29 | |
---|
| 30 | typedef btAlignedObjectArray<btVector3> btVertexArray; |
---|
| 31 | |
---|
| 32 | // Clips a face to the back of a plane |
---|
| 33 | struct 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 | |
---|