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Viewing changes to tests/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h
 
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/*
 
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Bullet Continuous Collision Detection and Physics Library
 
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Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
 
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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 _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
 
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#define _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
 
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 
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int             spuGetNumPreferredPenetrationDirections(int shapeType, void* shape)
 
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{
 
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        switch (shapeType)
 
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    {
 
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                case TRIANGLE_SHAPE_PROXYTYPE:
 
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                {
 
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                        return 2;
 
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                        //spu_printf("2\n");
 
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                        break;
 
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                }
 
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                default:
 
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                        {
 
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#if __ASSERT
 
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        spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
 
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#endif // __ASSERT
 
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                        }
 
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        }
 
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        return 0;       
 
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}       
 
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void    spuGetPreferredPenetrationDirection(int shapeType, void* shape, int index, btVector3& penetrationVector)
 
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{
 
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        switch (shapeType)
 
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    {
 
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                case TRIANGLE_SHAPE_PROXYTYPE:
 
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                {
 
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                        btVector3* vertices = (btVector3*)shape;
 
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                        ///calcNormal
 
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                        penetrationVector = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
 
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                        penetrationVector.normalize();
 
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                        if (index)
 
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                                penetrationVector *= btScalar(-1.);
 
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                        break;
 
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                }
 
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                default:
 
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                        {
 
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#if __ASSERT
 
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        spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
 
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#endif // __ASSERT
 
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                        }
 
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        }
 
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}
 
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#endif //_SPU_PREFERRED_PENETRATION_DIRECTIONS_H