71 lines
2.1 KiB
C
71 lines
2.1 KiB
C
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
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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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#ifndef _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
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#define _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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int spuGetNumPreferredPenetrationDirections(int shapeType, void* shape)
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{
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switch (shapeType)
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{
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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return 2;
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//spu_printf("2\n");
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break;
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}
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default:
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{
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#if __ASSERT
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spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
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#endif // __ASSERT
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}
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}
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return 0;
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}
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void spuGetPreferredPenetrationDirection(int shapeType, void* shape, int index, btVector3& penetrationVector)
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{
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switch (shapeType)
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{
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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btVector3* vertices = (btVector3*)shape;
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///calcNormal
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penetrationVector = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
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penetrationVector.normalize();
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if (index)
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penetrationVector *= btScalar(-1.);
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break;
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}
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default:
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{
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#if __ASSERT
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spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
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#endif // __ASSERT
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}
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}
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}
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#endif //_SPU_PREFERRED_PENETRATION_DIRECTIONS_H
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