Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

make sure aligned structures/classes use the btAlignedAlloc/btAlignedFree, by overriding the operator new/delete for that struct/class.

Browse Source 
integrated some contributions from IBM Germany for libspe2
This commit is contained in:
ejcoumans
2007-09-25 06:41:57 +00:00
parent 12e2a5c57c
commit a38de566c6
42 changed files with 1859 additions and 1814 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
View File

@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "btTriangleMeshShape.h"
#include "btOptimizedBvh.h"
#include "LinearMath/btAlignedAllocator.h"
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
@@ -31,6 +32,8 @@ ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {};
btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);

120
src/BulletCollision/CollisionShapes/btCapsuleShape.h
View File

@@ -1,60 +1,60 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
#ifndef BT_CAPSULE_SHAPE_H
#define BT_CAPSULE_SHAPE_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///btCapsuleShape represents a capsule around the Y axis
///A more general solution that can represent capsules is the btMultiSphereShape
class btCapsuleShape : public btConvexInternalShape
{
public:
btCapsuleShape(btScalar radius,btScalar height);
///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
/// btConvexShape Interface
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
virtual char* getName()const
{
return "CapsuleShape";
}
btScalar getRadius() const
{
return m_implicitShapeDimensions.getX();
}
btScalar getHalfHeight() const
{
return m_implicitShapeDimensions.getY();
}
};
#endif //BT_CAPSULE_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
#ifndef BT_CAPSULE_SHAPE_H
#define BT_CAPSULE_SHAPE_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///btCapsuleShape represents a capsule around the Y axis
///A more general solution that can represent capsules is the btMultiSphereShape
class btCapsuleShape : public btConvexInternalShape
{
public:
btCapsuleShape(btScalar radius,btScalar height);
///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
/// btConvexShape Interface
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
virtual char* getName()const
{
return "CapsuleShape";
}
btScalar getRadius() const
{
return m_implicitShapeDimensions.getX();
}
btScalar getHalfHeight() const
{
return m_implicitShapeDimensions.getY();
}
};
#endif //BT_CAPSULE_SHAPE_H

4
src/BulletCollision/CollisionShapes/btCompoundShape.h
View File

@@ -28,6 +28,8 @@ class btOptimizedBvh;
ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btTransform m_transform;
btCollisionShape* m_childShape;
int m_childShapeType;
@@ -47,6 +49,8 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
btOptimizedBvh* m_aabbTree;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCompoundShape();
virtual ~btCompoundShape();

1
src/BulletCollision/CollisionShapes/btConvexHullShape.h
View File

@@ -29,6 +29,7 @@ ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
btAlignedObjectArray<btPoint3> m_points;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.

3
src/BulletCollision/CollisionShapes/btConvexShape.h
View File

@@ -22,6 +22,7 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
#include "LinearMath/btAlignedAllocator.h"
//todo: get rid of this btConvexCastResult thing!
struct btConvexCastResult;
@@ -36,6 +37,8 @@ ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
virtual ~btConvexShape()
{

2
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
View File

@@ -202,4 +202,4 @@ void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
{
return m_stridingMesh->getScaling();
}
}

102
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
View File

@@ -1,51 +1,51 @@
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
#define CONVEX_TRIANGLEMESH_SHAPE_H
#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
/// btConvexTriangleMeshShape is a convex hull of a triangle mesh. If you just have a point cloud, you can use btConvexHullShape instead.
/// It uses the btStridingMeshInterface instead of a point cloud. This can avoid the duplication of the triangle mesh data.
class btConvexTriangleMeshShape : public btPolyhedralConvexShape
{
class btStridingMeshInterface* m_stridingMesh;
public:
btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface);
class btStridingMeshInterface* getStridingMesh()
{
return m_stridingMesh;
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
//debugging
virtual char* getName()const {return "ConvexTrimesh";}
virtual int getNumVertices() const;
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
};
#endif //CONVEX_TRIANGLEMESH_SHAPE_H
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
#define CONVEX_TRIANGLEMESH_SHAPE_H
#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
/// btConvexTriangleMeshShape is a convex hull of a triangle mesh. If you just have a point cloud, you can use btConvexHullShape instead.
/// It uses the btStridingMeshInterface instead of a point cloud. This can avoid the duplication of the triangle mesh data.
class btConvexTriangleMeshShape : public btPolyhedralConvexShape
{
class btStridingMeshInterface* m_stridingMesh;
public:
btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface);
class btStridingMeshInterface* getStridingMesh()
{
return m_stridingMesh;
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
//debugging
virtual char* getName()const {return "ConvexTrimesh";}
virtual int getNumVertices() const;
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
};
#endif //CONVEX_TRIANGLEMESH_SHAPE_H

176
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
View File

@@ -1,88 +1,88 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
#define HEIGHTFIELD_TERRAIN_SHAPE_H
#include "btConcaveShape.h"
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
class btHeightfieldTerrainShape : public btConcaveShape
{
protected:
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
///terrain data
int m_width;
int m_length;
btScalar m_maxHeight;
union
{
unsigned char* m_heightfieldDataUnsignedChar;
btScalar* m_heightfieldDataFloat;
void* m_heightfieldDataUnknown;
};
bool m_useFloatData;
bool m_flipQuadEdges;
bool m_useDiamondSubdivision;
int m_upAxis;
btVector3 m_localScaling;
virtual btScalar getHeightFieldValue(int x,int y) const;
void quantizeWithClamp(int* out, const btVector3& point) const;
void getVertex(int x,int y,btVector3& vertex) const;
inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const
{
bool overlap = true;
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
return overlap;
}
public:
btHeightfieldTerrainShape(int width,int height,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
virtual ~btHeightfieldTerrainShape();
void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
virtual int getShapeType() const
{
return TERRAIN_SHAPE_PROXYTYPE;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
//debugging
virtual char* getName()const {return "HEIGHTFIELD";}
};
#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
#define HEIGHTFIELD_TERRAIN_SHAPE_H
#include "btConcaveShape.h"
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
class btHeightfieldTerrainShape : public btConcaveShape
{
protected:
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
///terrain data
int m_width;
int m_length;
btScalar m_maxHeight;
union
{
unsigned char* m_heightfieldDataUnsignedChar;
btScalar* m_heightfieldDataFloat;
void* m_heightfieldDataUnknown;
};
bool m_useFloatData;
bool m_flipQuadEdges;
bool m_useDiamondSubdivision;
int m_upAxis;
btVector3 m_localScaling;
virtual btScalar getHeightFieldValue(int x,int y) const;
void quantizeWithClamp(int* out, const btVector3& point) const;
void getVertex(int x,int y,btVector3& vertex) const;
inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const
{
bool overlap = true;
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
return overlap;
}
public:
btHeightfieldTerrainShape(int width,int height,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
virtual ~btHeightfieldTerrainShape();
void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
virtual int getShapeType() const
{
return TERRAIN_SHAPE_PROXYTYPE;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
//debugging
virtual char* getName()const {return "HEIGHTFIELD";}
};
#endif //HEIGHTFIELD_TERRAIN_SHAPE_H

10
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
View File

@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"
//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
@@ -34,7 +35,8 @@ class btStridingMeshInterface;
///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
{
BT_DECLARE_ALIGNED_ALLOCATOR();
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
@@ -63,6 +65,8 @@ ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
{
BT_DECLARE_ALIGNED_ALLOCATOR();
//32 bytes
btVector3 m_aabbMinOrg;
btVector3 m_aabbMaxOrg;
@@ -84,6 +88,8 @@ ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
@@ -145,6 +151,8 @@ ATTRIBUTE_ALIGNED16(class) btOptimizedBvh
btVector3 m_bvhAabbMax;
btVector3 m_bvhQuantization;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
enum btTraversalMode
{
TRAVERSAL_STACKLESS = 0,

2
src/BulletCollision/CollisionShapes/btSphereShape.h
View File

@@ -25,6 +25,8 @@ ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btSphereShape (btScalar radius);

2
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
View File

@@ -121,4 +121,4 @@ void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto
aabbMin = aabbCallback.m_aabbMin;
aabbMax = aabbCallback.m_aabbMax;
}
}

122
src/BulletCollision/CollisionShapes/btTriangleBuffer.h
View File

@@ -1,61 +1,61 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
#ifndef BT_TRIANGLE_BUFFER_H
#define BT_TRIANGLE_BUFFER_H
#include "btTriangleCallback.h"
#include "LinearMath/btAlignedObjectArray.h"
struct btTriangle
{
btVector3 m_vertex0;
btVector3 m_vertex1;
btVector3 m_vertex2;
int m_partId;
int m_triangleIndex;
};
///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
class btTriangleBuffer : public btTriangleCallback
{
btAlignedObjectArray<btTriangle> m_triangleBuffer;
public:
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
int getNumTriangles() const
{
return int(m_triangleBuffer.size());
}
const btTriangle& getTriangle(int index) const
{
return m_triangleBuffer[index];
}
void clearBuffer()
{
m_triangleBuffer.clear();
}
};
#endif //BT_TRIANGLE_BUFFER_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
#ifndef BT_TRIANGLE_BUFFER_H
#define BT_TRIANGLE_BUFFER_H
#include "btTriangleCallback.h"
#include "LinearMath/btAlignedObjectArray.h"
struct btTriangle
{
btVector3 m_vertex0;
btVector3 m_vertex1;
btVector3 m_vertex2;
int m_partId;
int m_triangleIndex;
};
///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
class btTriangleBuffer : public btTriangleCallback
{
btAlignedObjectArray<btTriangle> m_triangleBuffer;
public:
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
int getNumTriangles() const
{
return int(m_triangleBuffer.size());
}
const btTriangle& getTriangle(int index) const
{
return m_triangleBuffer[index];
}
void clearBuffer()
{
m_triangleBuffer.clear();
}
};
#endif //BT_TRIANGLE_BUFFER_H

4
src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
View File

@@ -24,6 +24,8 @@ subject to the following restrictions:
///todo: explain with pictures
ATTRIBUTE_ALIGNED16( struct) btIndexedMesh
{
BT_DECLARE_ALIGNED_ALLOCATOR();
int m_numTriangles;
const unsigned char * m_triangleIndexBase;
int m_triangleIndexStride;
@@ -49,6 +51,8 @@ ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshIn
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btTriangleIndexVertexArray()
{
}