diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp | 423 |
1 files changed, 236 insertions, 187 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index b831e20c2f9..e4bd7bb4d56 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -12,9 +12,9 @@ subject to the following restrictions: 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. */ -//#if defined (_WIN32) || defined (__i386__) -//#define BT_USE_SSE_IN_API -//#endif +#if defined(_WIN32) || defined(__i386__) +#define BT_USE_SSE_IN_API +#endif #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" #include "btConvexPolyhedron.h" @@ -23,11 +23,9 @@ subject to the following restrictions: #include "LinearMath/btGeometryUtil.h" #include "LinearMath/btGrahamScan2dConvexHull.h" - -btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(), -m_polyhedron(0) +btPolyhedralConvexShape::btPolyhedralConvexShape() : btConvexInternalShape(), + m_polyhedron(0) { - } btPolyhedralConvexShape::~btPolyhedralConvexShape() @@ -39,79 +37,148 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape() } } - -bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin) +void btPolyhedralConvexShape::setPolyhedralFeatures(btConvexPolyhedron& polyhedron) { + if (m_polyhedron) + { + *m_polyhedron = polyhedron; + } + else + { + void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16); + m_polyhedron = new (mem) btConvexPolyhedron(polyhedron); + } +} +bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin) +{ if (m_polyhedron) { m_polyhedron->~btConvexPolyhedron(); btAlignedFree(m_polyhedron); } - - void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16); + + void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16); m_polyhedron = new (mem) btConvexPolyhedron; btAlignedObjectArray<btVector3> orgVertices; - for (int i=0;i<getNumVertices();i++) + for (int i = 0; i < getNumVertices(); i++) { btVector3& newVertex = orgVertices.expand(); - getVertex(i,newVertex); + getVertex(i, newVertex); } - + btConvexHullComputer conv; - + if (shiftVerticesByMargin) { btAlignedObjectArray<btVector3> planeEquations; - btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations); + btGeometryUtil::getPlaneEquationsFromVertices(orgVertices, planeEquations); btAlignedObjectArray<btVector3> shiftedPlaneEquations; - for (int p=0;p<planeEquations.size();p++) + for (int p = 0; p < planeEquations.size(); p++) { - btVector3 plane = planeEquations[p]; - // btScalar margin = getMargin(); - plane[3] -= getMargin(); - shiftedPlaneEquations.push_back(plane); + btVector3 plane = planeEquations[p]; + // btScalar margin = getMargin(); + plane[3] -= getMargin(); + shiftedPlaneEquations.push_back(plane); } btAlignedObjectArray<btVector3> tmpVertices; - btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices); - - conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f); - } else + btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations, tmpVertices); + + conv.compute(&tmpVertices[0].getX(), sizeof(btVector3), tmpVertices.size(), 0.f, 0.f); + } + else { - - conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f); + conv.compute(&orgVertices[0].getX(), sizeof(btVector3), orgVertices.size(), 0.f, 0.f); } +#ifndef BT_RECONSTRUCT_FACES + int numVertices = conv.vertices.size(); + m_polyhedron->m_vertices.resize(numVertices); + for (int p = 0; p < numVertices; p++) + { + m_polyhedron->m_vertices[p] = conv.vertices[p]; + } + + int v0, v1; + for (int j = 0; j < conv.faces.size(); j++) + { + btVector3 edges[3]; + int numEdges = 0; + btFace combinedFace; + const btConvexHullComputer::Edge* edge = &conv.edges[conv.faces[j]]; + v0 = edge->getSourceVertex(); + int prevVertex = v0; + combinedFace.m_indices.push_back(v0); + v1 = edge->getTargetVertex(); + while (v1 != v0) + { + btVector3 wa = conv.vertices[prevVertex]; + btVector3 wb = conv.vertices[v1]; + btVector3 newEdge = wb - wa; + newEdge.normalize(); + if (numEdges < 2) + edges[numEdges++] = newEdge; + + //face->addIndex(v1); + combinedFace.m_indices.push_back(v1); + edge = edge->getNextEdgeOfFace(); + prevVertex = v1; + int v01 = edge->getSourceVertex(); + v1 = edge->getTargetVertex(); + } + + btAssert(combinedFace.m_indices.size() > 2); + + btVector3 faceNormal = edges[0].cross(edges[1]); + faceNormal.normalize(); + + btScalar planeEq = 1e30f; + + for (int v = 0; v < combinedFace.m_indices.size(); v++) + { + btScalar eq = m_polyhedron->m_vertices[combinedFace.m_indices[v]].dot(faceNormal); + if (planeEq > eq) + { + planeEq = eq; + } + } + combinedFace.m_plane[0] = faceNormal.getX(); + combinedFace.m_plane[1] = faceNormal.getY(); + combinedFace.m_plane[2] = faceNormal.getZ(); + combinedFace.m_plane[3] = -planeEq; + + m_polyhedron->m_faces.push_back(combinedFace); + } + +#else //BT_RECONSTRUCT_FACES btAlignedObjectArray<btVector3> faceNormals; int numFaces = conv.faces.size(); faceNormals.resize(numFaces); btConvexHullComputer* convexUtil = &conv; - - btAlignedObjectArray<btFace> tmpFaces; + btAlignedObjectArray<btFace> tmpFaces; tmpFaces.resize(numFaces); int numVertices = convexUtil->vertices.size(); m_polyhedron->m_vertices.resize(numVertices); - for (int p=0;p<numVertices;p++) + for (int p = 0; p < numVertices; p++) { m_polyhedron->m_vertices[p] = convexUtil->vertices[p]; } - - for (int i=0;i<numFaces;i++) + for (int i = 0; i < numFaces; i++) { int face = convexUtil->faces[i]; //printf("face=%d\n",face); - const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face]; - const btConvexHullComputer::Edge* edge = firstEdge; + const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face]; + const btConvexHullComputer::Edge* edge = firstEdge; btVector3 edges[3]; int numEdges = 0; @@ -119,25 +186,23 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa do { - int src = edge->getSourceVertex(); tmpFaces[i].m_indices.push_back(src); int targ = edge->getTargetVertex(); btVector3 wa = convexUtil->vertices[src]; btVector3 wb = convexUtil->vertices[targ]; - btVector3 newEdge = wb-wa; + btVector3 newEdge = wb - wa; newEdge.normalize(); - if (numEdges<2) + if (numEdges < 2) edges[numEdges++] = newEdge; edge = edge->getNextEdgeOfFace(); - } while (edge!=firstEdge); + } while (edge != firstEdge); btScalar planeEq = 1e30f; - - if (numEdges==2) + if (numEdges == 2) { faceNormals[i] = edges[0].cross(edges[1]); faceNormals[i].normalize(); @@ -145,20 +210,19 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa tmpFaces[i].m_plane[1] = faceNormals[i].getY(); tmpFaces[i].m_plane[2] = faceNormals[i].getZ(); tmpFaces[i].m_plane[3] = planeEq; - } else { - btAssert(0);//degenerate? + btAssert(0); //degenerate? faceNormals[i].setZero(); } - for (int v=0;v<tmpFaces[i].m_indices.size();v++) + for (int v = 0; v < tmpFaces[i].m_indices.size(); v++) { btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]); - if (planeEq>eq) + if (planeEq > eq) { - planeEq=eq; + planeEq = eq; } } tmpFaces[i].m_plane[3] = -planeEq; @@ -166,89 +230,86 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa //merge coplanar faces and copy them to m_polyhedron - btScalar faceWeldThreshold= 0.999f; + btScalar faceWeldThreshold = 0.999f; btAlignedObjectArray<int> todoFaces; - for (int i=0;i<tmpFaces.size();i++) + for (int i = 0; i < tmpFaces.size(); i++) todoFaces.push_back(i); while (todoFaces.size()) { btAlignedObjectArray<int> coplanarFaceGroup; - int refFace = todoFaces[todoFaces.size()-1]; + int refFace = todoFaces[todoFaces.size() - 1]; coplanarFaceGroup.push_back(refFace); btFace& faceA = tmpFaces[refFace]; todoFaces.pop_back(); - btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]); - for (int j=todoFaces.size()-1;j>=0;j--) + btVector3 faceNormalA(faceA.m_plane[0], faceA.m_plane[1], faceA.m_plane[2]); + for (int j = todoFaces.size() - 1; j >= 0; j--) { int i = todoFaces[j]; btFace& faceB = tmpFaces[i]; - btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]); - if (faceNormalA.dot(faceNormalB)>faceWeldThreshold) + btVector3 faceNormalB(faceB.m_plane[0], faceB.m_plane[1], faceB.m_plane[2]); + if (faceNormalA.dot(faceNormalB) > faceWeldThreshold) { coplanarFaceGroup.push_back(i); todoFaces.remove(i); } } - bool did_merge = false; - if (coplanarFaceGroup.size()>1) + if (coplanarFaceGroup.size() > 1) { //do the merge: use Graham Scan 2d convex hull btAlignedObjectArray<GrahamVector3> orgpoints; - btVector3 averageFaceNormal(0,0,0); + btVector3 averageFaceNormal(0, 0, 0); - for (int i=0;i<coplanarFaceGroup.size();i++) + for (int i = 0; i < coplanarFaceGroup.size(); i++) { -// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]); + // m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]); btFace& face = tmpFaces[coplanarFaceGroup[i]]; - btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]); - averageFaceNormal+=faceNormal; - for (int f=0;f<face.m_indices.size();f++) + btVector3 faceNormal(face.m_plane[0], face.m_plane[1], face.m_plane[2]); + averageFaceNormal += faceNormal; + for (int f = 0; f < face.m_indices.size(); f++) { int orgIndex = face.m_indices[f]; btVector3 pt = m_polyhedron->m_vertices[orgIndex]; - + bool found = false; - for (int i=0;i<orgpoints.size();i++) + for (int i = 0; i < orgpoints.size(); i++) { //if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001)) if (orgpoints[i].m_orgIndex == orgIndex) { - found=true; + found = true; break; } } if (!found) - orgpoints.push_back(GrahamVector3(pt,orgIndex)); + orgpoints.push_back(GrahamVector3(pt, orgIndex)); } } - - btFace combinedFace; - for (int i=0;i<4;i++) + for (int i = 0; i < 4; i++) combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i]; btAlignedObjectArray<GrahamVector3> hull; averageFaceNormal.normalize(); - GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal); + GrahamScanConvexHull2D(orgpoints, hull, averageFaceNormal); - for (int i=0;i<hull.size();i++) + for (int i = 0; i < hull.size(); i++) { combinedFace.m_indices.push_back(hull[i].m_orgIndex); - for(int k = 0; k < orgpoints.size(); k++) + for (int k = 0; k < orgpoints.size(); k++) { - if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) + if (orgpoints[k].m_orgIndex == hull[i].m_orgIndex) { - orgpoints[k].m_orgIndex = -1; // invalidate... + orgpoints[k].m_orgIndex = -1; // invalidate... break; } } @@ -256,38 +317,41 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa // are there rejected vertices? bool reject_merge = false; - - - for(int i = 0; i < orgpoints.size(); i++) { - if(orgpoints[i].m_orgIndex == -1) - continue; // this is in the hull... + for (int i = 0; i < orgpoints.size(); i++) + { + if (orgpoints[i].m_orgIndex == -1) + continue; // this is in the hull... // this vertex is rejected -- is anybody else using this vertex? - for(int j = 0; j < tmpFaces.size(); j++) { - + for (int j = 0; j < tmpFaces.size(); j++) + { btFace& face = tmpFaces[j]; // is this a face of the current coplanar group? bool is_in_current_group = false; - for(int k = 0; k < coplanarFaceGroup.size(); k++) { - if(coplanarFaceGroup[k] == j) { + for (int k = 0; k < coplanarFaceGroup.size(); k++) + { + if (coplanarFaceGroup[k] == j) + { is_in_current_group = true; break; } } - if(is_in_current_group) // ignore this face... + if (is_in_current_group) // ignore this face... continue; // does this face use this rejected vertex? - for(int v = 0; v < face.m_indices.size(); v++) { - if(face.m_indices[v] == orgpoints[i].m_orgIndex) { + for (int v = 0; v < face.m_indices.size(); v++) + { + if (face.m_indices[v] == orgpoints[i].m_orgIndex) + { // this rejected vertex is used in another face -- reject merge reject_merge = true; break; } } - if(reject_merge) + if (reject_merge) break; } - if(reject_merge) + if (reject_merge) break; } @@ -298,34 +362,30 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa m_polyhedron->m_faces.push_back(combinedFace); } } - if(!did_merge) + if (!did_merge) { - for (int i=0;i<coplanarFaceGroup.size();i++) + for (int i = 0; i < coplanarFaceGroup.size(); i++) { btFace face = tmpFaces[coplanarFaceGroup[i]]; m_polyhedron->m_faces.push_back(face); } + } + } - } - - +#endif //BT_RECONSTRUCT_FACES - } - m_polyhedron->initialize(); return true; } #ifndef MIN - #define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b)) +#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b)) #endif -btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const { - - - btVector3 supVec(0,0,0); + btVector3 supVec(0, 0, 0); #ifndef __SPU__ int i; btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); @@ -334,37 +394,36 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b 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; } btVector3 vtx; btScalar newDot; - for( int k = 0; k < getNumVertices(); k += 128 ) - { - btVector3 temp[128]; - int inner_count = MIN(getNumVertices() - k, 128); - for( i = 0; i < inner_count; i++ ) - getVertex(i,temp[i]); - i = (int) vec.maxDot( temp, inner_count, newDot); + for (int k = 0; k < getNumVertices(); k += 128) + { + btVector3 temp[128]; + int inner_count = MIN(getNumVertices() - k, 128); + for (i = 0; i < inner_count; i++) + getVertex(i, temp[i]); + i = (int)vec.maxDot(temp, inner_count, newDot); if (newDot > maxDot) { maxDot = newDot; supVec = temp[i]; - } - } - -#endif //__SPU__ + } + } + +#endif //__SPU__ return supVec; } - - -void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const { #ifndef __SPU__ int i; @@ -372,36 +431,34 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin( btVector3 vtx; btScalar newDot; - for (i=0;i<numVectors;i++) + for (i = 0; i < numVectors; i++) { supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT); } - for (int j=0;j<numVectors;j++) + for (int j = 0; j < numVectors; j++) { - const btVector3& vec = vectors[j]; - - for( int k = 0; k < getNumVertices(); k += 128 ) - { - btVector3 temp[128]; - int inner_count = MIN(getNumVertices() - k, 128); - for( i = 0; i < inner_count; i++ ) - getVertex(i,temp[i]); - i = (int) vec.maxDot( temp, inner_count, newDot); - if (newDot > supportVerticesOut[j][3]) - { + const btVector3& vec = vectors[j]; + + for (int k = 0; k < getNumVertices(); k += 128) + { + btVector3 temp[128]; + int inner_count = MIN(getNumVertices() - k, 128); + for (i = 0; i < inner_count; i++) + getVertex(i, temp[i]); + i = (int)vec.maxDot(temp, inner_count, newDot); + if (newDot > supportVerticesOut[j][3]) + { supportVerticesOut[j] = temp[i]; supportVerticesOut[j][3] = newDot; - } - } - } + } + } + } -#endif //__SPU__ +#endif //__SPU__ } - - -void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const { #ifndef __SPU__ //not yet, return box inertia @@ -410,81 +467,77 @@ void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine btTransform ident; ident.setIdentity(); - btVector3 aabbMin,aabbMax; - getAabb(ident,aabbMin,aabbMax); // This already contains the margin - btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); - - btScalar lx=btScalar(2.)*(halfExtents.x()); - btScalar ly=btScalar(2.)*(halfExtents.y()); - btScalar lz=btScalar(2.)*(halfExtents.z()); - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; + btVector3 aabbMin, aabbMax; + getAabb(ident, aabbMin, aabbMax); // This already contains the margin + btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5); + + btScalar lx = btScalar(2.) * (halfExtents.x()); + btScalar ly = btScalar(2.) * (halfExtents.y()); + btScalar lz = btScalar(2.) * (halfExtents.z()); + const btScalar x2 = lx * lx; + const btScalar y2 = ly * ly; + const btScalar z2 = lz * lz; const btScalar scaledmass = mass * btScalar(0.08333333); - inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); -#endif //__SPU__ + inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2)); +#endif //__SPU__ } - - -void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling) +void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling) { btConvexInternalShape::setLocalScaling(scaling); recalcLocalAabb(); } btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape() -:btPolyhedralConvexShape(), -m_localAabbMin(1,1,1), -m_localAabbMax(-1,-1,-1), -m_isLocalAabbValid(false) + : btPolyhedralConvexShape(), + m_localAabbMin(1, 1, 1), + m_localAabbMax(-1, -1, -1), + m_isLocalAabbValid(false) { } -void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const { - getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin()); + getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin()); } -void btPolyhedralConvexAabbCachingShape::recalcLocalAabb() +void btPolyhedralConvexAabbCachingShape::recalcLocalAabb() { m_isLocalAabbValid = true; - - #if 1 + +#if 1 static const btVector3 _directions[] = - { - btVector3( 1., 0., 0.), - btVector3( 0., 1., 0.), - btVector3( 0., 0., 1.), - btVector3( -1., 0., 0.), - btVector3( 0., -1., 0.), - btVector3( 0., 0., -1.) - }; - + { + btVector3(1., 0., 0.), + btVector3(0., 1., 0.), + btVector3(0., 0., 1.), + btVector3(-1., 0., 0.), + btVector3(0., -1., 0.), + btVector3(0., 0., -1.)}; + btVector3 _supporting[] = - { - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.) - }; - + { + btVector3(0., 0., 0.), + btVector3(0., 0., 0.), + btVector3(0., 0., 0.), + btVector3(0., 0., 0.), + btVector3(0., 0., 0.), + btVector3(0., 0., 0.)}; + batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); - - for ( int i = 0; i < 3; ++i ) + + for (int i = 0; i < 3; ++i) { m_localAabbMax[i] = _supporting[i][i]; m_localAabbMin[i] = _supporting[i + 3][i]; } - #else +#else - for (int i=0;i<3;i++) + for (int i = 0; i < 3; i++) { - btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.)); vec[i] = btScalar(1.); btVector3 tmp = localGetSupportingVertex(vec); m_localAabbMax[i] = tmp[i]; @@ -492,9 +545,5 @@ void btPolyhedralConvexAabbCachingShape::recalcLocalAabb() tmp = localGetSupportingVertex(vec); m_localAabbMin[i] = tmp[i]; } - #endif +#endif } - - - - |