45 lines
1.7 KiB
C++
45 lines
1.7 KiB
C++
/*
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Copyright (c) 2012 Advanced Micro Devices, Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//Originally written by Erwin Coumans
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#include "CustomConvexShape.h"
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#include "ConvexHeightFieldShape.h"
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#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
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CustomConvexShape::CustomConvexShape(const btScalar* points,int numPoints, int stride)
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:btConvexHullShape(points,numPoints,stride),
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m_acceleratedCompanionShapeIndex(-1)
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{
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m_shapeType = CUSTOM_POLYHEDRAL_SHAPE_TYPE;
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initializePolyhedralFeatures();
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int numFaces= m_polyhedron->m_faces.size();
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float4* eqn = new float4[numFaces];
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for (int i=0;i<numFaces;i++)
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{
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eqn[i].x = m_polyhedron->m_faces[i].m_plane[0];
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eqn[i].y = m_polyhedron->m_faces[i].m_plane[1];
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eqn[i].z = m_polyhedron->m_faces[i].m_plane[2];
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eqn[i].w = m_polyhedron->m_faces[i].m_plane[3];
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}
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m_ConvexHeightField = new ConvexHeightField(eqn,numFaces);
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}
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CustomConvexShape::~CustomConvexShape()
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{
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delete m_ConvexHeightField;
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} |