62 lines
2.1 KiB
C
62 lines
2.1 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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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///btShapeHull implemented by John McCutchan.
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#ifndef BT_SHAPE_HULL_H
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#define BT_SHAPE_HULL_H
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#include "LinearMath/btAlignedObjectArray.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
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///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
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///It approximates the convex hull using the supporting vertex of 42 directions.
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ATTRIBUTE_ALIGNED16(class) btShapeHull
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{
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protected:
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btAlignedObjectArray<btVector3> m_vertices;
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btAlignedObjectArray<unsigned int> m_indices;
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unsigned int m_numIndices;
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const btConvexShape* m_shape;
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static btVector3* getUnitSpherePoints();
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btShapeHull (const btConvexShape* shape);
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~btShapeHull ();
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bool buildHull (btScalar margin);
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int numTriangles () const;
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int numVertices () const;
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int numIndices () const;
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const btVector3* getVertexPointer() const
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{
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return &m_vertices[0];
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}
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const unsigned int* getIndexPointer() const
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{
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return &m_indices[0];
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}
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};
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#endif //BT_SHAPE_HULL_H
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