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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.1 (2010/10/01)
#include "Wm5PhysicsPCH.h"
#include "Wm5ExtremalQuery3.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
ExtremalQuery3<Real>::ExtremalQuery3 (const ConvexPolyhedron3<Real>* polytope)
:
mPolytope(polytope)
{
// Create the triangle normals.
const Vector3<Real>* vertices = mPolytope->GetVertices();
int numTriangles = mPolytope->GetNumTriangles();
const int* indices = mPolytope->GetIndices();
mFaceNormals = new1<Vector3<Real> >(numTriangles);
for (int i = 0; i < numTriangles; ++i)
{
const Vector3<Real>& v0 = vertices[*indices++];
const Vector3<Real>& v1 = vertices[*indices++];
const Vector3<Real>& v2 = vertices[*indices++];
Vector3<Real> edge1 = v1 - v0;
Vector3<Real> edge2 = v2 - v0;
mFaceNormals[i] = edge1.UnitCross(edge2);
}
}
//----------------------------------------------------------------------------
template <typename Real>
ExtremalQuery3<Real>::~ExtremalQuery3 ()
{
delete1(mFaceNormals);
}
//----------------------------------------------------------------------------
template <typename Real>
const ConvexPolyhedron3<Real>* ExtremalQuery3<Real>::GetPolytope () const
{
return mPolytope;
}
//----------------------------------------------------------------------------
template <typename Real>
const Vector3<Real>* ExtremalQuery3<Real>::GetFaceNormals () const
{
return mFaceNormals;
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_PHYSICS_ITEM
class ExtremalQuery3<float>;
template WM5_PHYSICS_ITEM
class ExtremalQuery3<double>;
//----------------------------------------------------------------------------
}
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