2020-11-16 14:47:43 +08:00
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/*
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2021-12-20 18:52:45 +08:00
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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans https://bulletphysics.org
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2020-11-16 14:47:43 +08:00
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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 BT_GEOMETRY_UTIL_H
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#define BT_GEOMETRY_UTIL_H
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#include "btVector3.h"
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#include "btAlignedObjectArray.h"
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///The btGeometryUtil helper class provides a few methods to convert between plane equations and vertices.
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class btGeometryUtil
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{
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public:
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static void getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut);
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static void getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations, btAlignedObjectArray<btVector3>& verticesOut);
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static bool isInside(const btAlignedObjectArray<btVector3>& vertices, const btVector3& planeNormal, btScalar margin);
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static bool isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin);
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static bool areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin);
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};
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#endif //BT_GEOMETRY_UTIL_H
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