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- #ifndef BT_OBB_TRIANGLE_MINKOWSKI_H
- #define BT_OBB_TRIANGLE_MINKOWSKI_H
- #include "btConvexShape.h"
- #include "btBoxShape.h"
- ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape
- {
- public:
- BT_DECLARE_ALIGNED_ALLOCATOR();
- btVector3 m_vertices1[3];
- virtual int getNumVertices() const
- {
- return 3;
- }
- btVector3& getVertexPtr(int index)
- {
- return m_vertices1[index];
- }
- const btVector3& getVertexPtr(int index) const
- {
- return m_vertices1[index];
- }
- virtual void getVertex(int index,btVector3& vert) const
- {
- vert = m_vertices1[index];
- }
- virtual int getNumEdges() const
- {
- return 3;
- }
-
- virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
- {
- getVertex(i,pa);
- getVertex((i+1)%3,pb);
- }
- virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const
- {
- getAabbSlow(t,aabbMin,aabbMax);
- }
- btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const
- {
- btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
- return m_vertices1[dots.maxAxis()];
- }
- virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
- {
- for (int i=0;i<numVectors;i++)
- {
- const btVector3& dir = vectors[i];
- btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
- supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
- }
- }
- btTriangleShape() : btPolyhedralConvexShape ()
- {
- m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
- }
- btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape ()
- {
- m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
- m_vertices1[0] = p0;
- m_vertices1[1] = p1;
- m_vertices1[2] = p2;
- }
- virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const
- {
- getPlaneEquation(i,planeNormal,planeSupport);
- }
- virtual int getNumPlanes() const
- {
- return 1;
- }
- void calcNormal(btVector3& normal) const
- {
- normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
- normal.normalize();
- }
- virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const
- {
- (void)i;
- calcNormal(planeNormal);
- planeSupport = m_vertices1[0];
- }
- virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
- {
- (void)mass;
- btAssert(0);
- inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
- }
- virtual bool isInside(const btVector3& pt,btScalar tolerance) const
- {
- btVector3 normal;
- calcNormal(normal);
-
- btScalar dist = pt.dot(normal);
- btScalar planeconst = m_vertices1[0].dot(normal);
- dist -= planeconst;
- if (dist >= -tolerance && dist <= tolerance)
- {
-
- int i;
- for (i=0;i<3;i++)
- {
- btVector3 pa,pb;
- getEdge(i,pa,pb);
- btVector3 edge = pb-pa;
- btVector3 edgeNormal = edge.cross(normal);
- edgeNormal.normalize();
- btScalar dist = pt.dot( edgeNormal);
- btScalar edgeConst = pa.dot(edgeNormal);
- dist -= edgeConst;
- if (dist < -tolerance)
- return false;
- }
-
- return true;
- }
- return false;
- }
-
- virtual const char* getName()const
- {
- return "Triangle";
- }
- virtual int getNumPreferredPenetrationDirections() const
- {
- return 2;
- }
-
- virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
- {
- calcNormal(penetrationVector);
- if (index)
- penetrationVector *= btScalar(-1.);
- }
- };
- #endif
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