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Diffstat (limited to 'extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h')
-rw-r--r-- | extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h | 70 |
1 files changed, 70 insertions, 0 deletions
diff --git a/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h b/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h new file mode 100644 index 00000000000..774a0cb2eb1 --- /dev/null +++ b/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h @@ -0,0 +1,70 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 _SPU_PREFERRED_PENETRATION_DIRECTIONS_H +#define _SPU_PREFERRED_PENETRATION_DIRECTIONS_H + + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" + +int spuGetNumPreferredPenetrationDirections(int shapeType, void* shape) +{ + switch (shapeType) + { + case TRIANGLE_SHAPE_PROXYTYPE: + { + return 2; + //spu_printf("2\n"); + break; + } + default: + { +#if __ASSERT + spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType); +#endif // __ASSERT + } + } + + return 0; +} + +void spuGetPreferredPenetrationDirection(int shapeType, void* shape, int index, btVector3& penetrationVector) +{ + + + switch (shapeType) + { + case TRIANGLE_SHAPE_PROXYTYPE: + { + btVector3* vertices = (btVector3*)shape; + ///calcNormal + penetrationVector = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]); + penetrationVector.normalize(); + if (index) + penetrationVector *= btScalar(-1.); + break; + } + default: + { + +#if __ASSERT + spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType); +#endif // __ASSERT + } + } + +} + +#endif //_SPU_PREFERRED_PENETRATION_DIRECTIONS_H |