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Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp | 166 |
1 files changed, 166 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp new file mode 100644 index 00000000000..7a4c7ebf5c0 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -0,0 +1,166 @@ +/* +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. +*/ +#include "btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" + + + +btConvexHullShape ::btConvexHullShape (const float* points,int numPoints,int stride) +{ + m_points.resize(numPoints); + unsigned char* pointsBaseAddress = (unsigned char*)points; + + for (int i=0;i<numPoints;i++) + { + btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride); + m_points[i] = point[0]; + } +} + +btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + btVector3 supVec(0.f,0.f,0.f); + btScalar newDot,maxDot = -1e30f; + + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < 0.0001f) + { + vec.setValue(1,0,0); + } else + { + float rlen = 1.f / btSqrt(lenSqr ); + vec *= rlen; + } + + + for (size_t i=0;i<m_points.size();i++) + { + btPoint3 vtx = m_points[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] = -1e30f; + } + } + for (size_t i=0;i<m_points.size();i++) + { + btPoint3 vtx = m_points[i] * m_localScaling; + + 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()!=0.f ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(-1.f,-1.f,-1.f); + } + 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_points.size(); +} + +int btConvexHullShape::getNumEdges() const +{ + return m_points.size(); +} + +void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const +{ + + int index0 = i%m_points.size(); + int index1 = (i+1)%m_points.size(); + pa = m_points[index0]*m_localScaling; + pb = m_points[index1]*m_localScaling; +} + +void btConvexHullShape::getVertex(int i,btPoint3& vtx) const +{ + vtx = m_points[i]*m_localScaling; +} + +int btConvexHullShape::getNumPlanes() const +{ + return 0; +} + +void btConvexHullShape::getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const +{ + assert(0); +} + +//not yet +bool btConvexHullShape::isInside(const btPoint3& pt,btScalar tolerance) const +{ + assert(0); + return false; +} + |