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Viewing changes to extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h

  • Committer: Bazaar Package Importer
  • Author(s): Chris Coulson
  • Date: 2009-08-06 22:32:19 UTC
  • mfrom: (1.2.10 upstream)
  • Revision ID: james.westby@ubuntu.com-20090806223219-8z4eej1u8levu4pz
Tags: 2.49a+dfsg-0ubuntu1
https://launchpad.net/bugs/382153
* Merge from debian unstable, remaining changes:
  - debian/control: Build-depend on python-2.6 rather than python-2.5.
  - debian/misc/*.desktop: Add Spanish translation to .desktop 
    files.
  - debian/pyversions: 2.6.
  - debian/rules: Clean *.o of source/blender/python/api2_2x/
* New upstream release (LP: #382153).
* Refreshed patches:
  - 01_sanitize_sys.patch
  - 02_tmp_in_HOME
  - 10_use_systemwide_ftgl
  - 70_portability_platform_detection
* Removed patches merged upstream:
  - 30_fix_python_syntax_warning
  - 90_ubuntu_ffmpeg_52_changes

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extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
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#include "btPolyhedralConvexShape.h"
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#include "btCollisionMargin.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "LinearMath/btPoint3.h"
 
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btMinMax.h"
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///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
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        }
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        virtual int     getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
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        virtual btVector3       localGetSupportingVertex(const btVector3& vec) const
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        {
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                btVector3 halfExtents = getHalfExtentsWithoutMargin();
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        }
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        btBoxShape( const btVector3& boxHalfExtents)
 
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        btBoxShape( const btVector3& boxHalfExtents) 
 
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                : btPolyhedralConvexShape()
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        {
 
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                m_shapeType = BOX_SHAPE_PROXYTYPE;
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                btVector3 margin(getMargin(),getMargin(),getMargin());
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                m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
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        };
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        virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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        virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
 
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        virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
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        {
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                //this plane might not be aligned...
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                btVector4 plane ;
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                switch (i)
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                {
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                case 0:
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                        plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
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                        plane[3] = -halfExtents.x();
 
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                        plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
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                        break;
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                case 1:
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                        plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
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                        plane[3] = -halfExtents.x();
 
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                        plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
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                        break;
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                case 2:
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                        plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
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                        plane[3] = -halfExtents.y();
 
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                        plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
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                        break;
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                case 3:
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                        plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
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                        plane[3] = -halfExtents.y();
 
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                        plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
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                        break;
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                case 4:
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                        plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
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                        plane[3] = -halfExtents.z();
 
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                        plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
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                        break;
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                case 5:
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                        plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
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                        plane[3] = -halfExtents.z();
 
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                        plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
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                        break;
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                default:
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                        assert(0);
 
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                        btAssert(0);
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                }
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        }
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        virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
 
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        virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
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        //virtual void getEdge(int i,Edge& edge) const
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        {
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                int edgeVert0 = 0;
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        virtual bool isInside(const btPoint3& pt,btScalar tolerance) const
 
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        virtual bool isInside(const btVector3& pt,btScalar tolerance) const
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        {
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                btVector3 halfExtents = getHalfExtentsWithoutMargin();
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                        penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
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                        break;
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                default:
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                        assert(0);
 
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                        btAssert(0);
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                }
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        }
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