moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Bullet/CollisionShapes/TriangleShape.h
+++ b/Bullet/CollisionShapes/TriangleShape.h
@@ -0,0 +1,164 @@
+/*
+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 OBB_TRIANGLE_MINKOWSKI_H
+#define OBB_TRIANGLE_MINKOWSKI_H
+
+#include "ConvexShape.h"
+#include "CollisionShapes/BoxShape.h"
+
+class TriangleShape : public PolyhedralConvexShape
+{
+
+
+public:
+
+	SimdVector3	m_vertices1[3];
+
+
+	virtual int GetNumVertices() const
+	{
+		return 3;
+	}
+
+	const SimdVector3& GetVertexPtr(int index) const
+	{
+		return m_vertices1[index];
+	}
+	virtual void GetVertex(int index,SimdVector3& vert) const
+	{
+		vert = m_vertices1[index];
+	}
+	virtual int	GetShapeType() const
+	{
+		return TRIANGLE_SHAPE_PROXYTYPE;
+	}
+
+	virtual int GetNumEdges() const
+	{
+		return 3;
+	}
+	
+	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
+	{
+		GetVertex(i,pa);
+		GetVertex((i+1)%3,pb);
+	}
+
+	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax)const 
+	{
+//		ASSERT(0);
+		GetAabbSlow(t,aabbMin,aabbMax);
+	}
+
+	SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& dir)const 
+	{
+		SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
+	  	return m_vertices1[dots.maxAxis()];
+
+	}
+
+	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+	{
+		for (int i=0;i<numVectors;i++)
+		{
+			const SimdVector3& dir = vectors[i];
+			SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
+  			supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
+		}
+
+	}
+
+
+
+	TriangleShape(const SimdVector3& p0,const SimdVector3& p1,const SimdVector3& p2)
+	{
+		m_vertices1[0] = p0;
+		m_vertices1[1] = p1;
+		m_vertices1[2] = p2;
+	}
+
+	
+
+	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
+	{
+		GetPlaneEquation(i,planeNormal,planeSupport);
+	}
+
+	virtual int	GetNumPlanes() const
+	{
+		return 1;
+	}
+
+	void CalcNormal(SimdVector3& normal) const
+	{
+		normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
+		normal.normalize();
+	}
+
+	virtual void GetPlaneEquation(int i, SimdVector3& planeNormal,SimdPoint3& planeSupport) const
+	{
+		CalcNormal(planeNormal);
+		planeSupport = m_vertices1[0];
+	}
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+	{
+		ASSERT(0);
+		inertia.setValue(0.f,0.f,0.f);
+	}
+
+		virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
+	{
+		SimdVector3 normal;
+		CalcNormal(normal);
+		//distance to plane
+		SimdScalar dist = pt.dot(normal);
+		SimdScalar planeconst = m_vertices1[0].dot(normal);
+		dist -= planeconst;
+		if (dist >= -tolerance && dist <= tolerance)
+		{
+			//inside check on edge-planes
+			int i;
+			for (i=0;i<3;i++)
+			{
+				SimdPoint3 pa,pb;
+				GetEdge(i,pa,pb);
+				SimdVector3 edge = pb-pa;
+				SimdVector3 edgeNormal = edge.cross(normal);
+				edgeNormal.normalize();
+				SimdScalar dist = pt.dot( edgeNormal);
+				SimdScalar edgeConst = pa.dot(edgeNormal);
+				dist -= edgeConst;
+				if (dist < -tolerance)
+					return false;
+			}
+			
+			return true;
+		}
+
+		return false;
+	}
+		//debugging
+		virtual char*	GetName()const
+		{
+			return "Triangle";
+		}
+
+
+};
+
+#endif //OBB_TRIANGLE_MINKOWSKI_H
+