btConvexPolyhedron.h

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 
00018 
00019 
00020 #ifndef _BT_POLYHEDRAL_FEATURES_H
00021 #define _BT_POLYHEDRAL_FEATURES_H
00022 
00023 #include "LinearMath/btTransform.h"
00024 #include "LinearMath/btAlignedObjectArray.h"
00025 
00026 #define TEST_INTERNAL_OBJECTS 1
00027 
00028 
00029 struct btFace
00030 {
00031         btAlignedObjectArray<int>       m_indices;
00032 //      btAlignedObjectArray<int>       m_connectedFaces;
00033         btScalar        m_plane[4];
00034 };
00035 
00036 
00037 ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron
00038 {
00039         public:
00040                 
00041         BT_DECLARE_ALIGNED_ALLOCATOR();
00042                 
00043         btConvexPolyhedron();
00044         virtual ~btConvexPolyhedron();
00045 
00046         btAlignedObjectArray<btVector3> m_vertices;
00047         btAlignedObjectArray<btFace>    m_faces;
00048         btAlignedObjectArray<btVector3> m_uniqueEdges;
00049 
00050         btVector3               m_localCenter;
00051         btVector3               m_extents;
00052         btScalar                m_radius;
00053         btVector3               mC;
00054         btVector3               mE;
00055 
00056         void    initialize();
00057         bool testContainment() const;
00058 
00059         void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
00060 };
00061 
00062         
00063 #endif //_BT_POLYHEDRAL_FEATURES_H
00064 
00065