Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 42 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3Geometry/b3GeometryUtil.h b/thirdparty/bullet/src/Bullet3Geometry/b3GeometryUtil.h
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+++ b/thirdparty/bullet/src/Bullet3Geometry/b3GeometryUtil.h
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+/*
+Copyright (c) 2003-2006 Gino van den Bergen / 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 B3_GEOMETRY_UTIL_H
+#define B3_GEOMETRY_UTIL_H
+
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+///The b3GeometryUtil helper class provides a few methods to convert between plane equations and vertices.
+class b3GeometryUtil
+{
+	public:
+	
+	
+		static void	getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut );
+
+		static void	getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations , b3AlignedObjectArray<b3Vector3>& verticesOut );
+	
+		static bool	isInside(const b3AlignedObjectArray<b3Vector3>& vertices, const b3Vector3& planeNormal, b3Scalar	margin);
+		
+		static bool	isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar	margin);
+
+		static bool	areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar	margin);
+
+};
+
+
+#endif //B3_GEOMETRY_UTIL_H
+