70 #ifdef TEST_INTERNAL_OBJECTS 73 for (
int p = 0; p < 8; p++)
112 int NbTris = numVertices;
113 for (
int j = 0; j < NbTris; j++)
115 int k = (j + 1) % numVertices;
153 #ifdef USE_CONNECTED_FACES 159 for (
int j = 0; j < numVertices; j++)
161 int k = (j + 1) % numVertices;
169 m_faces[i].m_connectedFaces[j] = connectedFace;
172 #endif //USE_CONNECTED_FACES 184 int NbTris = numVertices - 2;
187 for (
int j = 1; j <= NbTris; j++)
189 int k = (j + 1) % numVertices;
193 btVector3 Center = (p0 + p1 + p2) / 3.0f;
200 #ifdef TEST_INTERNAL_OBJECTS 221 if (pt.
x() < MinX) MinX = pt.
x();
222 if (pt.
x() > MaxX) MaxX = pt.
x();
223 if (pt.
y() < MinY) MinY = pt.
y();
224 if (pt.
y() > MaxY) MaxY = pt.
y();
225 if (pt.
z() < MinZ) MinZ = pt.
z();
226 if (pt.
z() > MaxZ) MaxZ = pt.
z();
228 mC.
setValue(MaxX + MinX, MaxY + MinY, MaxZ + MinZ);
229 mE.
setValue(MaxX - MinX, MaxY - MinY, MaxZ - MinZ);
234 const btScalar Step = (
mE[LargestExtent] * 0.5f - r) / 1024.0f;
236 m_extents[LargestExtent] =
mE[LargestExtent] * 0.5f;
237 bool FoundBox =
false;
238 for (
int j = 0; j < 1024; j++)
256 const int e0 = (1 << LargestExtent) & 3;
257 const int e1 = (1 << e0) & 3;
259 for (
int j = 0; j < 1024; j++)
282 for (
int i = 0; i < numVerts; i++)
297 if (minProj > maxProj)
300 btSwap(witnesPtMin, witnesPtMax);
btAlignedObjectArray< btVector3 > m_vertices
btScalar length(const btQuaternion &q)
Return the length of a quaternion.
void push_back(const T &_Val)
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
bool equals(const btInternalVertexPair &other) const
const Value * find(const Key &key) const
btAlignedObjectArray< btVector3 > m_uniqueEdges
bool IsAlmostZero(const btVector3 &v)
The btHashMap template class implements a generic and lightweight hashmap.
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
btInternalVertexPair(short int v0, short int v1)
void project(const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
bool testContainment() const
const btScalar & x() const
Return the x value.
btAlignedObjectArray< btFace > m_faces
btScalar dot(const btVector3 &v) const
Return the dot product.
btConvexPolyhedron()
This file was written by Erwin Coumans Separating axis rest based on work from Pierre Terdiman...
const btScalar & y() const
Return the y value.
const btScalar & z() const
Return the z value.
void insert(const Key &key, const Value &value)
virtual ~btConvexPolyhedron()
btVector3 can be used to represent 3D points and vectors.
int size() const
return the number of elements in the array
void resize(int newsize, const T &fillData=T())
int maxAxis() const
Return the axis with the largest value Note return values are 0,1,2 for x, y, or z.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btFabs(btScalar x)