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Diffstat (limited to 'extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h')
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diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h
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+/*
+ * 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