1 files changed, 146 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp
new file mode 100644
index 00000000000..0206324fa04
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+++ b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp
@@ -0,0 +1,146 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#include "ConvexHullShape.h"
+#include "NarrowPhaseCollision/CollisionMargin.h"
+
+#include "SimdQuaternion.h"
+
+
+ConvexHullShape ::ConvexHullShape (SimdPoint3* points,int numPoints)
+{
+	m_points.resize(numPoints);
+	for (int i=0;i<numPoints;i++)
+		m_points[i] = points[i];
+}
+
+SimdVector3	ConvexHullShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
+{
+	SimdVector3 supVec(0.f,0.f,0.f);
+	SimdScalar newDot,maxDot = -1e30f;
+
+	SimdVector3 vec = vec0;
+	SimdScalar lenSqr = vec.length2();
+	if (lenSqr < 0.0001f)
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		float rlen = 1.f / sqrtf(lenSqr );
+		vec *= rlen;
+	}
+
+
+	for (int i=0;i<m_points.size();i++)
+	{
+		SimdPoint3 vtx = m_points[i] * m_localScaling;
+
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+	return supVec;
+}
+
+
+SimdVector3	ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)const
+{
+	SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
+
+	if ( GetMargin()!=0.f )
+	{
+		SimdVector3 vecnorm = vec;
+		if (vecnorm .length2() == 0.f)
+		{
+			vecnorm.setValue(-1.f,-1.f,-1.f);
+		} 
+		vecnorm.normalize();
+		supVertex+= GetMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+
+
+
+void	ConvexHullShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	//not yet, return box inertia
+
+	float margin = GetMargin();
+
+	SimdTransform ident;
+	ident.setIdentity();
+	SimdVector3 aabbMin,aabbMax;
+	GetAabb(ident,aabbMin,aabbMax);
+	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
+
+	SimdScalar lx=2.f*(halfExtents.x()+margin);
+	SimdScalar ly=2.f*(halfExtents.y()+margin);
+	SimdScalar lz=2.f*(halfExtents.z()+margin);
+	const SimdScalar x2 = lx*lx;
+	const SimdScalar y2 = ly*ly;
+	const SimdScalar z2 = lz*lz;
+	const SimdScalar scaledmass = mass * 0.08333333f;
+
+	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
+
+}
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw ConvexHullShape with the Raytracer Demo
+int	ConvexHullShape::GetNumVertices() const
+{
+	return m_points.size();
+}
+
+int ConvexHullShape::GetNumEdges() const
+{
+	return m_points.size()*m_points.size();
+}
+
+void ConvexHullShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
+{
+
+	int index0 = i%m_points.size();
+	int index1 = i/m_points.size();
+	pa = m_points[index0];
+	pb = m_points[index1];
+}
+
+void ConvexHullShape::GetVertex(int i,SimdPoint3& vtx) const
+{
+	vtx = m_points[i];
+}
+
+int	ConvexHullShape::GetNumPlanes() const
+{
+	return 0;
+}
+
+void ConvexHullShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
+{
+	assert(0);
+}
+
+//not yet
+bool ConvexHullShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
+{
+	assert(0);
+	return false;
+}
+