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Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionShapes/btConvexHullShape.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionShapes/btConvexHullShape.cpp | 223 |
1 files changed, 223 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/BulletCollision/CollisionShapes/btConvexHullShape.cpp new file mode 100644 index 00000000000..2c39cabca54 --- /dev/null +++ b/extern/bullet2/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -0,0 +1,223 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btSerializer.h" + +btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape () +{ + m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE; + m_unscaledPoints.resize(numPoints); + + unsigned char* pointsAddress = (unsigned char*)points; + + for (int i=0;i<numPoints;i++) + { + btScalar* point = (btScalar*)pointsAddress; + m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]); + pointsAddress += stride; + } + + recalcLocalAabb(); + +} + + + +void btConvexHullShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; + recalcLocalAabb(); +} + +void btConvexHullShape::addPoint(const btVector3& point) +{ + m_unscaledPoints.push_back(point); + recalcLocalAabb(); + +} + +btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); + btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT); + + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < btScalar(0.0001)) + { + vec.setValue(1,0,0); + } else + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + vec *= rlen; + } + + + for (int i=0;i<m_unscaledPoints.size();i++) + { + btVector3 vtx = m_unscaledPoints[i] * m_localScaling; + + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + return supVec; +} + +void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + btScalar newDot; + //use 'w' component of supportVerticesOut? + { + for (int i=0;i<numVectors;i++) + { + supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT); + } + } + for (int i=0;i<m_unscaledPoints.size();i++) + { + btVector3 vtx = getScaledPoint(i); + + for (int j=0;j<numVectors;j++) + { + const btVector3& vec = vectors[j]; + + newDot = vec.dot(vtx); + if (newDot > supportVerticesOut[j][3]) + { + //WARNING: don't swap next lines, the w component would get overwritten! + supportVerticesOut[j] = vtx; + supportVerticesOut[j][3] = newDot; + } + } + } + + + +} + + + +btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const +{ + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; +} + + + + + + + + + +//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection +//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo +int btConvexHullShape::getNumVertices() const +{ + return m_unscaledPoints.size(); +} + +int btConvexHullShape::getNumEdges() const +{ + return m_unscaledPoints.size(); +} + +void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const +{ + + int index0 = i%m_unscaledPoints.size(); + int index1 = (i+1)%m_unscaledPoints.size(); + pa = getScaledPoint(index0); + pb = getScaledPoint(index1); +} + +void btConvexHullShape::getVertex(int i,btVector3& vtx) const +{ + vtx = getScaledPoint(i); +} + +int btConvexHullShape::getNumPlanes() const +{ + return 0; +} + +void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const +{ + + btAssert(0); +} + +//not yet +bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const +{ + btAssert(0); + return false; +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + //int szc = sizeof(btConvexHullShapeData); + btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer; + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); + + int numElem = m_unscaledPoints.size(); + shapeData->m_numUnscaledPoints = numElem; +#ifdef BT_USE_DOUBLE_PRECISION + shapeData->m_unscaledPointsFloatPtr = 0; + shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; +#else + shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; + shapeData->m_unscaledPointsDoublePtr = 0; +#endif + + if (numElem) + { + int sz = sizeof(btVector3Data); + // int sz2 = sizeof(btVector3DoubleData); + // int sz3 = sizeof(btVector3FloatData); + btChunk* chunk = serializer->allocate(sz,numElem); + btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr; + for (int i=0;i<numElem;i++,memPtr++) + { + m_unscaledPoints[i].serialize(*memPtr); + } + serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]); + } + + return "btConvexHullShapeData"; +} + + |