diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp | 94 |
1 files changed, 42 insertions, 52 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp index ad1d1bf78f8..f00a440fa35 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp @@ -25,81 +25,73 @@ void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling) } #ifndef __SPU__ -btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const { - btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.)); btScalar maxDot = btScalar(-BT_LARGE_FLOAT); btVector3 vec = vec0; btScalar lenSqr = vec.length2(); if (lenSqr < btScalar(0.0001)) { - vec.setValue(1,0,0); - } else + vec.setValue(1, 0, 0); + } + else { - btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + btScalar rlen = btScalar(1.) / btSqrt(lenSqr); vec *= rlen; } - - if( m_numPoints > 0 ) - { - // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically. - // btVector3 scaled = vec * m_localScaling; - int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints - return getScaledPoint(index); - } + + if (m_numPoints > 0) + { + // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically. + // btVector3 scaled = vec * m_localScaling; + int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints + return getScaledPoint(index); + } return supVec; } -void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const { - for( int j = 0; j < numVectors; j++ ) - { - const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c) - btScalar maxDot; - int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); - supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT); - if( 0 <= index ) - { - //WARNING: don't swap next lines, the w component would get overwritten! - supportVerticesOut[j] = getScaledPoint(index); - supportVerticesOut[j][3] = maxDot; - } - } - + for (int j = 0; j < numVectors; j++) + { + const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c) + btScalar maxDot; + int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot); + supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT); + if (0 <= index) + { + //WARNING: don't swap next lines, the w component would get overwritten! + supportVerticesOut[j] = getScaledPoint(index); + supportVerticesOut[j][3] = maxDot; + } + } } - - -btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const +btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec) const { btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); - if ( getMargin()!=btScalar(0.) ) + if (getMargin() != btScalar(0.)) { btVector3 vecnorm = vec; - if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON)) { - vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); - } + vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.)); + } vecnorm.normalize(); - supVertex+= getMargin() * vecnorm; + supVertex += getMargin() * vecnorm; } return supVertex; } - #endif - - - - - //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 btConvexPointCloudShape::getNumVertices() const +int btConvexPointCloudShape::getNumVertices() const { return m_numPoints; } @@ -109,31 +101,29 @@ int btConvexPointCloudShape::getNumEdges() const return 0; } -void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const +void btConvexPointCloudShape::getEdge(int i, btVector3& pa, btVector3& pb) const { - btAssert (0); + btAssert(0); } -void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const +void btConvexPointCloudShape::getVertex(int i, btVector3& vtx) const { - vtx = m_unscaledPoints[i]*m_localScaling; + vtx = m_unscaledPoints[i] * m_localScaling; } -int btConvexPointCloudShape::getNumPlanes() const +int btConvexPointCloudShape::getNumPlanes() const { return 0; } -void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const +void btConvexPointCloudShape::getPlane(btVector3&, btVector3&, int) const { - btAssert(0); } //not yet -bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const +bool btConvexPointCloudShape::isInside(const btVector3&, btScalar) const { btAssert(0); return false; } - |