mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-17 23:11:06 +00:00
9105c3af5a
Moved optional code to Extras: AlgebraicCCD,EPA,quickstep Moved SimpleBroadphase data to OverlappingPairCache, and derive both SimpleBroadphase and AxisSweep3 from OverlappingPairCache. Added ParallelPhysicsEnvironment (prepair more parallel mainloop) Upgraded hardcoded limit from 1024/8192 to 32766/65535 (max objects / max overlapping pairs)
90 lines
3.1 KiB
C++
90 lines
3.1 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
EPA Copyright (c) Ricardo Padrela 2006
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
#ifndef EPA_POLYHEDRON_H
|
|
#define EPA_POLYHEDRON_H
|
|
|
|
class EpaFace;
|
|
class EpaVertex;
|
|
|
|
//! Note : This class is not supposed to be a base class
|
|
class EpaPolyhedron
|
|
{
|
|
private :
|
|
|
|
//! Prevents copying objects from this class
|
|
EpaPolyhedron( const EpaPolyhedron& epaPolyhedron );
|
|
const EpaPolyhedron& operator = ( const EpaPolyhedron& epaPolyhedron );
|
|
|
|
public :
|
|
|
|
EpaPolyhedron();
|
|
~EpaPolyhedron();
|
|
|
|
bool Create( SimdPoint3* pInitialPoints,
|
|
SimdPoint3* pSupportPointsOnA, SimdPoint3* pSupportPointsOnB,
|
|
const int nbInitialPoints );
|
|
void Destroy();
|
|
|
|
EpaFace* CreateFace();
|
|
EpaHalfEdge* CreateHalfEdge();
|
|
EpaVertex* CreateVertex( const SimdPoint3& wSupportPoint,
|
|
const SimdPoint3& wSupportPointOnA,
|
|
const SimdPoint3& wSupportPointOnB );
|
|
|
|
void DeleteFace( EpaFace* pFace );
|
|
|
|
void DestroyAllFaces();
|
|
void DestroyAllHalfEdges();
|
|
void DestroyAllVertices();
|
|
|
|
bool Expand( const SimdPoint3& wSupportPoint,
|
|
const SimdPoint3& wSupportPointOnA,
|
|
const SimdPoint3& wSupportPointOnB,
|
|
EpaFace* pFace, std::list< EpaFace* >& newFaces );
|
|
|
|
std::list< EpaFace* >& GetFaces();
|
|
int GetNbFaces() const;
|
|
|
|
private :
|
|
|
|
void DeleteVisibleFaces( const SimdPoint3& point, EpaFace* pFace,
|
|
std::list< EpaHalfEdge* >& coneBaseTwinHalfEdges );
|
|
|
|
void CreateCone( EpaVertex* pAppexVertex, std::list< EpaHalfEdge* >& baseTwinHalfEdges,
|
|
std::list< EpaFace* >& newFaces );
|
|
EpaFace* CreateConeFace( EpaVertex* pAppexVertex, EpaHalfEdge* pBaseTwinHalfEdge,
|
|
std::list< EpaHalfEdge* >& halfEdgesToLink );
|
|
|
|
#ifdef _DEBUG
|
|
public :
|
|
//! Please don't remove this method, it will help debugging if some problems arise in the future
|
|
bool _dbgSaveToFile( const char* pFileName );
|
|
#endif
|
|
|
|
private :
|
|
|
|
//! This is the number of valid faces, m_faces list also contain deleted faces
|
|
int m_nbFaces;
|
|
|
|
std::list< EpaFace* > m_faces;
|
|
std::list< EpaHalfEdge* > m_halfEdges;
|
|
std::list< EpaVertex* > m_vertices;
|
|
};
|
|
|
|
#endif
|
|
|