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Viewing changes to extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp

  • Committer: Package Import Robot
  • Author(s): Jeremy Bicha
  • Date: 2013-03-06 12:08:47 UTC
  • mfrom: (1.5.1) (14.1.8 experimental)
  • Revision ID: package-import@ubuntu.com-20130306120847-frjfaryb2zrotwcg
Tags: 2.66a-1ubuntu1
https://launchpad.net/bugs/1076930
https://launchpad.net/bugs/1089256
https://launchpad.net/bugs/1052743
https://launchpad.net/bugs/999024
* Resynchronize with Debian (LP: #1076930, #1089256, #1052743, #999024,
  #1122888, #1147084)
* debian/control:
  - Lower build-depends on libavcodec-dev since we're not
    doing the libav9 transition in Ubuntu yet

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extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
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}
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void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
 
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{
 
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        btVector3 localAxis = dir*trans.getBasis();
 
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        btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
 
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        btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
 
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        min = vtx1.dot(dir);
 
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        max = vtx2.dot(dir);
 
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        if(min>max)
 
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        {
 
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                btScalar tmp = min;
 
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                min = max;
 
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                max = tmp;
 
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        }
 
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}
 
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static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
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{       
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                        pos[capsuleUpAxis] = halfHeight;
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                        //vtx = pos +vec*(radius);
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                        vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
 
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                        vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
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                        newDot = vec.dot(vtx);
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                        pos[capsuleUpAxis] = -halfHeight;
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                        //vtx = pos +vec*(radius);
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                        vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
 
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                        vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
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                        newDot = vec.dot(vtx);
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                        if (newDot > maxDot)
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                        {