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Diffstat (limited to 'extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h')
-rw-r--r-- | extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h | 152 |
1 files changed, 152 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h new file mode 100644 index 00000000000..3328b1061e5 --- /dev/null +++ b/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h @@ -0,0 +1,152 @@ +/* + * 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. +*/ + + +#ifndef VoronoiSimplexSolver_H +#define VoronoiSimplexSolver_H + +#include "SimplexSolverInterface.h" + + + +#define VORONOI_SIMPLEX_MAX_VERTS 5 + +struct UsageBitfield{ + UsageBitfield() + { + reset(); + } + + void reset() + { + usedVertexA = false; + usedVertexB = false; + usedVertexC = false; + usedVertexD = false; + } + unsigned short usedVertexA : 1; + unsigned short usedVertexB : 1; + unsigned short usedVertexC : 1; + unsigned short usedVertexD : 1; + unsigned short unused1 : 1; + unsigned short unused2 : 1; + unsigned short unused3 : 1; + unsigned short unused4 : 1; +}; + + +struct SubSimplexClosestResult +{ + SimdPoint3 m_closestPointOnSimplex; + //MASK for m_usedVertices + //stores the simplex vertex-usage, using the MASK, + // if m_usedVertices & MASK then the related vertex is used + UsageBitfield m_usedVertices; + float m_barycentricCoords[4]; + bool m_degenerate; + + void Reset() + { + m_degenerate = false; + SetBarycentricCoordinates(); + m_usedVertices.reset(); + } + bool IsValid() + { + bool valid = (m_barycentricCoords[0] >= 0.f) && + (m_barycentricCoords[1] >= 0.f) && + (m_barycentricCoords[2] >= 0.f) && + (m_barycentricCoords[3] >= 0.f); + + + return valid; + } + void SetBarycentricCoordinates(float a=0.f,float b=0.f,float c=0.f,float d=0.f) + { + m_barycentricCoords[0] = a; + m_barycentricCoords[1] = b; + m_barycentricCoords[2] = c; + m_barycentricCoords[3] = d; + } + +}; + +/// VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin. +/// Can be used with GJK, as an alternative to Johnson distance algorithm. +#ifdef NO_VIRTUAL_INTERFACE +class VoronoiSimplexSolver +#else +class VoronoiSimplexSolver : public SimplexSolverInterface +#endif +{ +public: + + int m_numVertices; + + SimdVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS]; + SimdPoint3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS]; + SimdPoint3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS]; + + + + SimdPoint3 m_cachedP1; + SimdPoint3 m_cachedP2; + SimdVector3 m_cachedV; + SimdVector3 m_lastW; + bool m_cachedValidClosest; + + SubSimplexClosestResult m_cachedBC; + + bool m_needsUpdate; + + void removeVertex(int index); + void ReduceVertices (const UsageBitfield& usedVerts); + bool UpdateClosestVectorAndPoints(); + + bool ClosestPtPointTetrahedron(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d, SubSimplexClosestResult& finalResult); + int PointOutsideOfPlane(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d); + bool ClosestPtPointTriangle(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c,SubSimplexClosestResult& result); + +public: + + void reset(); + + void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q); + + + bool closest(SimdVector3& v); + + SimdScalar maxVertex(); + + bool fullSimplex() const + { + return (m_numVertices == 4); + } + + int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const; + + bool inSimplex(const SimdVector3& w); + + void backup_closest(SimdVector3& v) ; + + bool emptySimplex() const ; + + void compute_points(SimdPoint3& p1, SimdPoint3& p2) ; + + int numVertices() const + { + return m_numVertices; + } + + +}; + +#endif //VoronoiSimplexSolver |