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diff --git a/extern/bullet2/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/extern/bullet2/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
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-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
-
-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.
-
- Elsevier CDROM license agreements grants nonexclusive license to use the software
- for any purpose, commercial or non-commercial as long as the following credit is included
- identifying the original source of the software:
-
- Parts of the source are "from the book Real-Time Collision Detection by
- Christer Ericson, published by Morgan Kaufmann Publishers,
- (c) 2005 Elsevier Inc."
-
-*/
-
-
-#include "btVoronoiSimplexSolver.h"
-
-#define VERTA 0
-#define VERTB 1
-#define VERTC 2
-#define VERTD 3
-
-#define CATCH_DEGENERATE_TETRAHEDRON 1
-void btVoronoiSimplexSolver::removeVertex(int index)
-{
-
- btAssert(m_numVertices>0);
- m_numVertices--;
- m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
- m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
- m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
-}
-
-void btVoronoiSimplexSolver::reduceVertices (const btUsageBitfield& usedVerts)
-{
- if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
- removeVertex(3);
-
- if ((numVertices() >= 3) && (!usedVerts.usedVertexC))
- removeVertex(2);
-
- if ((numVertices() >= 2) && (!usedVerts.usedVertexB))
- removeVertex(1);
-
- if ((numVertices() >= 1) && (!usedVerts.usedVertexA))
- removeVertex(0);
-
-}
-
-
-
-
-
-//clear the simplex, remove all the vertices
-void btVoronoiSimplexSolver::reset()
-{
- m_cachedValidClosest = false;
- m_numVertices = 0;
- m_needsUpdate = true;
- m_lastW = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
- m_cachedBC.reset();
-}
-
-
-
- //add a vertex
-void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q)
-{
- m_lastW = w;
- m_needsUpdate = true;
-
- m_simplexVectorW[m_numVertices] = w;
- m_simplexPointsP[m_numVertices] = p;
- m_simplexPointsQ[m_numVertices] = q;
-
- m_numVertices++;
-}
-
-bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
-{
-
- if (m_needsUpdate)
- {
- m_cachedBC.reset();
-
- m_needsUpdate = false;
-
- switch (numVertices())
- {
- case 0:
- m_cachedValidClosest = false;
- break;
- case 1:
- {
- m_cachedP1 = m_simplexPointsP[0];
- m_cachedP2 = m_simplexPointsQ[0];
- m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
- m_cachedBC.reset();
- m_cachedBC.setBarycentricCoordinates(btScalar(1.),btScalar(0.),btScalar(0.),btScalar(0.));
- m_cachedValidClosest = m_cachedBC.isValid();
- break;
- };
- case 2:
- {
- //closest point origin from line segment
- const btVector3& from = m_simplexVectorW[0];
- const btVector3& to = m_simplexVectorW[1];
- btVector3 nearest;
-
- btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
- btVector3 diff = p - from;
- btVector3 v = to - from;
- btScalar t = v.dot(diff);
-
- if (t > 0) {
- btScalar dotVV = v.dot(v);
- if (t < dotVV) {
- t /= dotVV;
- diff -= t*v;
- m_cachedBC.m_usedVertices.usedVertexA = true;
- m_cachedBC.m_usedVertices.usedVertexB = true;
- } else {
- t = 1;
- diff -= v;
- //reduce to 1 point
- m_cachedBC.m_usedVertices.usedVertexB = true;
- }
- } else
- {
- t = 0;
- //reduce to 1 point
- m_cachedBC.m_usedVertices.usedVertexA = true;
- }
- m_cachedBC.setBarycentricCoordinates(1-t,t);
- nearest = from + t*v;
-
- m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
- m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
- m_cachedV = m_cachedP1 - m_cachedP2;
-
- reduceVertices(m_cachedBC.m_usedVertices);
-
- m_cachedValidClosest = m_cachedBC.isValid();
- break;
- }
- case 3:
- {
- //closest point origin from triangle
- btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
-
- const btVector3& a = m_simplexVectorW[0];
- const btVector3& b = m_simplexVectorW[1];
- const btVector3& c = m_simplexVectorW[2];
-
- closestPtPointTriangle(p,a,b,c,m_cachedBC);
- m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
- m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
- m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2];
-
- m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
- m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
- m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2];
-
- m_cachedV = m_cachedP1-m_cachedP2;
-
- reduceVertices (m_cachedBC.m_usedVertices);
- m_cachedValidClosest = m_cachedBC.isValid();
-
- break;
- }
- case 4:
- {
-
-
- btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
-
- const btVector3& a = m_simplexVectorW[0];
- const btVector3& b = m_simplexVectorW[1];
- const btVector3& c = m_simplexVectorW[2];
- const btVector3& d = m_simplexVectorW[3];
-
- bool hasSeperation = closestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
-
- if (hasSeperation)
- {
-
- m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
- m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
- m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
- m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
-
- m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
- m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
- m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
- m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
-
- m_cachedV = m_cachedP1-m_cachedP2;
- reduceVertices (m_cachedBC.m_usedVertices);
- } else
- {
-// printf("sub distance got penetration\n");
-
- if (m_cachedBC.m_degenerate)
- {
- m_cachedValidClosest = false;
- } else
- {
- m_cachedValidClosest = true;
- //degenerate case == false, penetration = true + zero
- m_cachedV.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
- }
- break;
- }
-
- m_cachedValidClosest = m_cachedBC.isValid();
-
- //closest point origin from tetrahedron
- break;
- }
- default:
- {
- m_cachedValidClosest = false;
- }
- };
- }
-
- return m_cachedValidClosest;
-
-}
-
-//return/calculate the closest vertex
-bool btVoronoiSimplexSolver::closest(btVector3& v)
-{
- bool succes = updateClosestVectorAndPoints();
- v = m_cachedV;
- return succes;
-}
-
-
-
-btScalar btVoronoiSimplexSolver::maxVertex()
-{
- int i, numverts = numVertices();
- btScalar maxV = btScalar(0.);
- for (i=0;i<numverts;i++)
- {
- btScalar curLen2 = m_simplexVectorW[i].length2();
- if (maxV < curLen2)
- maxV = curLen2;
- }
- return maxV;
-}
-
-
-
- //return the current simplex
-int btVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const
-{
- int i;
- for (i=0;i<numVertices();i++)
- {
- yBuf[i] = m_simplexVectorW[i];
- pBuf[i] = m_simplexPointsP[i];
- qBuf[i] = m_simplexPointsQ[i];
- }
- return numVertices();
-}
-
-
-
-
-bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
-{
- bool found = false;
- int i, numverts = numVertices();
- //btScalar maxV = btScalar(0.);
-
- //w is in the current (reduced) simplex
- for (i=0;i<numverts;i++)
- {
-#ifdef BT_USE_EQUAL_VERTEX_THRESHOLD
- if ( m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
-#else
- if (m_simplexVectorW[i] == w)
-#endif
- found = true;
- }
-
- //check in case lastW is already removed
- if (w == m_lastW)
- return true;
-
- return found;
-}
-
-void btVoronoiSimplexSolver::backup_closest(btVector3& v)
-{
- v = m_cachedV;
-}
-
-
-bool btVoronoiSimplexSolver::emptySimplex() const
-{
- return (numVertices() == 0);
-
-}
-
-void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2)
-{
- updateClosestVectorAndPoints();
- p1 = m_cachedP1;
- p2 = m_cachedP2;
-
-}
-
-
-
-
-bool btVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result)
-{
- result.m_usedVertices.reset();
-
- // Check if P in vertex region outside A
- btVector3 ab = b - a;
- btVector3 ac = c - a;
- btVector3 ap = p - a;
- btScalar d1 = ab.dot(ap);
- btScalar d2 = ac.dot(ap);
- if (d1 <= btScalar(0.0) && d2 <= btScalar(0.0))
- {
- result.m_closestPointOnSimplex = a;
- result.m_usedVertices.usedVertexA = true;
- result.setBarycentricCoordinates(1,0,0);
- return true;// a; // barycentric coordinates (1,0,0)
- }
-
- // Check if P in vertex region outside B
- btVector3 bp = p - b;
- btScalar d3 = ab.dot(bp);
- btScalar d4 = ac.dot(bp);
- if (d3 >= btScalar(0.0) && d4 <= d3)
- {
- result.m_closestPointOnSimplex = b;
- result.m_usedVertices.usedVertexB = true;
- result.setBarycentricCoordinates(0,1,0);
-
- return true; // b; // barycentric coordinates (0,1,0)
- }
- // Check if P in edge region of AB, if so return projection of P onto AB
- btScalar vc = d1*d4 - d3*d2;
- if (vc <= btScalar(0.0) && d1 >= btScalar(0.0) && d3 <= btScalar(0.0)) {
- btScalar v = d1 / (d1 - d3);
- result.m_closestPointOnSimplex = a + v * ab;
- result.m_usedVertices.usedVertexA = true;
- result.m_usedVertices.usedVertexB = true;
- result.setBarycentricCoordinates(1-v,v,0);
- return true;
- //return a + v * ab; // barycentric coordinates (1-v,v,0)
- }
-
- // Check if P in vertex region outside C
- btVector3 cp = p - c;
- btScalar d5 = ab.dot(cp);
- btScalar d6 = ac.dot(cp);
- if (d6 >= btScalar(0.0) && d5 <= d6)
- {
- result.m_closestPointOnSimplex = c;
- result.m_usedVertices.usedVertexC = true;
- result.setBarycentricCoordinates(0,0,1);
- return true;//c; // barycentric coordinates (0,0,1)
- }
-
- // Check if P in edge region of AC, if so return projection of P onto AC
- btScalar vb = d5*d2 - d1*d6;
- if (vb <= btScalar(0.0) && d2 >= btScalar(0.0) && d6 <= btScalar(0.0)) {
- btScalar w = d2 / (d2 - d6);
- result.m_closestPointOnSimplex = a + w * ac;
- result.m_usedVertices.usedVertexA = true;
- result.m_usedVertices.usedVertexC = true;
- result.setBarycentricCoordinates(1-w,0,w);
- return true;
- //return a + w * ac; // barycentric coordinates (1-w,0,w)
- }
-
- // Check if P in edge region of BC, if so return projection of P onto BC
- btScalar va = d3*d6 - d5*d4;
- if (va <= btScalar(0.0) && (d4 - d3) >= btScalar(0.0) && (d5 - d6) >= btScalar(0.0)) {
- btScalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-
- result.m_closestPointOnSimplex = b + w * (c - b);
- result.m_usedVertices.usedVertexB = true;
- result.m_usedVertices.usedVertexC = true;
- result.setBarycentricCoordinates(0,1-w,w);
- return true;
- // return b + w * (c - b); // barycentric coordinates (0,1-w,w)
- }
-
- // P inside face region. Compute Q through its barycentric coordinates (u,v,w)
- btScalar denom = btScalar(1.0) / (va + vb + vc);
- btScalar v = vb * denom;
- btScalar w = vc * denom;
-
- result.m_closestPointOnSimplex = a + ab * v + ac * w;
- result.m_usedVertices.usedVertexA = true;
- result.m_usedVertices.usedVertexB = true;
- result.m_usedVertices.usedVertexC = true;
- result.setBarycentricCoordinates(1-v-w,v,w);
-
- return true;
-// return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = btScalar(1.0) - v - w
-
-}
-
-
-
-
-
-/// Test if point p and d lie on opposite sides of plane through abc
-int btVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d)
-{
- btVector3 normal = (b-a).cross(c-a);
-
- btScalar signp = (p - a).dot(normal); // [AP AB AC]
- btScalar signd = (d - a).dot( normal); // [AD AB AC]
-
-#ifdef CATCH_DEGENERATE_TETRAHEDRON
-#ifdef BT_USE_DOUBLE_PRECISION
-if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
- {
- return -1;
- }
-#else
- if (signd * signd < (btScalar(1e-4) * btScalar(1e-4)))
- {
-// printf("affine dependent/degenerate\n");//
- return -1;
- }
-#endif
-
-#endif
- // Points on opposite sides if expression signs are opposite
- return signp * signd < btScalar(0.);
-}
-
-
-bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult)
-{
- btSubSimplexClosestResult tempResult;
-
- // Start out assuming point inside all halfspaces, so closest to itself
- finalResult.m_closestPointOnSimplex = p;
- finalResult.m_usedVertices.reset();
- finalResult.m_usedVertices.usedVertexA = true;
- finalResult.m_usedVertices.usedVertexB = true;
- finalResult.m_usedVertices.usedVertexC = true;
- finalResult.m_usedVertices.usedVertexD = true;
-
- int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
- int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b);
- int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
- int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
-
- if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
- {
- finalResult.m_degenerate = true;
- return false;
- }
-
- if (!pointOutsideABC && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
- {
- return false;
- }
-
-
- btScalar bestSqDist = FLT_MAX;
- // If point outside face abc then compute closest point on abc
- if (pointOutsideABC)
- {
- closestPtPointTriangle(p, a, b, c,tempResult);
- btVector3 q = tempResult.m_closestPointOnSimplex;
-
- btScalar sqDist = (q - p).dot( q - p);
- // Update best closest point if (squared) distance is less than current best
- if (sqDist < bestSqDist) {
- bestSqDist = sqDist;
- finalResult.m_closestPointOnSimplex = q;
- //convert result bitmask!
- finalResult.m_usedVertices.reset();
- finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
- finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
- finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
- finalResult.setBarycentricCoordinates(
- tempResult.m_barycentricCoords[VERTA],
- tempResult.m_barycentricCoords[VERTB],
- tempResult.m_barycentricCoords[VERTC],
- 0
- );
-
- }
- }
-
-
- // Repeat test for face acd
- if (pointOutsideACD)
- {
- closestPtPointTriangle(p, a, c, d,tempResult);
- btVector3 q = tempResult.m_closestPointOnSimplex;
- //convert result bitmask!
-
- btScalar sqDist = (q - p).dot( q - p);
- if (sqDist < bestSqDist)
- {
- bestSqDist = sqDist;
- finalResult.m_closestPointOnSimplex = q;
- finalResult.m_usedVertices.reset();
- finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-
- finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
- finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
- finalResult.setBarycentricCoordinates(
- tempResult.m_barycentricCoords[VERTA],
- 0,
- tempResult.m_barycentricCoords[VERTB],
- tempResult.m_barycentricCoords[VERTC]
- );
-
- }
- }
- // Repeat test for face adb
-
-
- if (pointOutsideADB)
- {
- closestPtPointTriangle(p, a, d, b,tempResult);
- btVector3 q = tempResult.m_closestPointOnSimplex;
- //convert result bitmask!
-
- btScalar sqDist = (q - p).dot( q - p);
- if (sqDist < bestSqDist)
- {
- bestSqDist = sqDist;
- finalResult.m_closestPointOnSimplex = q;
- finalResult.m_usedVertices.reset();
- finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
- finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
-
- finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
- finalResult.setBarycentricCoordinates(
- tempResult.m_barycentricCoords[VERTA],
- tempResult.m_barycentricCoords[VERTC],
- 0,
- tempResult.m_barycentricCoords[VERTB]
- );
-
- }
- }
- // Repeat test for face bdc
-
-
- if (pointOutsideBDC)
- {
- closestPtPointTriangle(p, b, d, c,tempResult);
- btVector3 q = tempResult.m_closestPointOnSimplex;
- //convert result bitmask!
- btScalar sqDist = (q - p).dot( q - p);
- if (sqDist < bestSqDist)
- {
- bestSqDist = sqDist;
- finalResult.m_closestPointOnSimplex = q;
- finalResult.m_usedVertices.reset();
- //
- finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexA;
- finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
- finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
-
- finalResult.setBarycentricCoordinates(
- 0,
- tempResult.m_barycentricCoords[VERTA],
- tempResult.m_barycentricCoords[VERTC],
- tempResult.m_barycentricCoords[VERTB]
- );
-
- }
- }
-
- //help! we ended up full !
-
- if (finalResult.m_usedVertices.usedVertexA &&
- finalResult.m_usedVertices.usedVertexB &&
- finalResult.m_usedVertices.usedVertexC &&
- finalResult.m_usedVertices.usedVertexD)
- {
- return true;
- }
-
- return true;
-}
-
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