mirror of
https://github.com/bulletphysics/bullet3
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84 lines
2.3 KiB
C++
84 lines
2.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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EPA Copyright (c) Ricardo Padrela 2006
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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 EPA_FACE_H
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#define EPA_FACE_H
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class EpaVertex;
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class EpaHalfEdge;
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#ifdef EPA_POLYHEDRON_USE_PLANES
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extern btScalar PLANE_THICKNESS;
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#endif
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//! Note : This class is not supposed to be a base class
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class EpaFace
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{
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private :
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//! Prevents copying objects from this class
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EpaFace( const EpaFace& epaFace );
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const EpaFace& operator = ( const EpaFace& epaFace );
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public :
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EpaFace();
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~EpaFace();
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bool Initialize();
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#ifdef EPA_POLYHEDRON_USE_PLANES
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bool CalculatePlane();
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#endif
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void CalcClosestPoint();
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void CalcClosestPointOnA( btVector3& closestPointOnA );
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void CalcClosestPointOnB( btVector3& closestPointOnB );
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bool IsAffinelyDependent() const;
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bool IsClosestPointInternal() const;
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void CollectVertices( EpaVertex** ppVertices );
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//void FixOrder();
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public :
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EpaHalfEdge* m_pHalfEdge;
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// We keep vertices here so we don't need to call CollectVertices
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// every time we need them
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EpaVertex* m_pVertices[ 3 ];
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#ifdef EPA_POLYHEDRON_USE_PLANES
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btVector3 m_planeNormal;
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btScalar m_planeDistance;
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//btVector3 m_robustPlaneNormal;
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//btScalar m_robustPlaneDistance;
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#endif
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btVector3 m_v;
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btScalar m_vSqrd;
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btScalar m_determinant;
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btScalar m_lambdas[ 2 ];
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bool m_deleted;
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};
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#endif
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