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path: root/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp153
1 files changed, 89 insertions, 64 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index 82def79cf55..4854f370f73 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -12,6 +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
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "btConvexPolyhedron.h"
@@ -31,51 +34,58 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape()
{
if (m_polyhedron)
{
+ m_polyhedron->~btConvexPolyhedron();
btAlignedFree(m_polyhedron);
}
}
-bool btPolyhedralConvexShape::initializePolyhedralFeatures()
+bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
{
if (m_polyhedron)
+ {
+ m_polyhedron->~btConvexPolyhedron();
btAlignedFree(m_polyhedron);
+ }
void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
m_polyhedron = new (mem) btConvexPolyhedron;
- btAlignedObjectArray<btVector3> orgVertices;
+ btAlignedObjectArray<btVector3> orgVertices;
for (int i=0;i<getNumVertices();i++)
{
btVector3& newVertex = orgVertices.expand();
getVertex(i,newVertex);
}
-
-#if 0
- btAlignedObjectArray<btVector3> planeEquations;
- btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
-
- btAlignedObjectArray<btVector3> shiftedPlaneEquations;
- for (int p=0;p<planeEquations.size();p++)
+
+ btConvexHullComputer conv;
+
+ if (shiftVerticesByMargin)
{
- btVector3 plane = planeEquations[p];
- plane[3] -= getMargin();
- shiftedPlaneEquations.push_back(plane);
- }
+ btAlignedObjectArray<btVector3> planeEquations;
+ btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
- btAlignedObjectArray<btVector3> tmpVertices;
+ btAlignedObjectArray<btVector3> shiftedPlaneEquations;
+ for (int p=0;p<planeEquations.size();p++)
+ {
+ btVector3 plane = planeEquations[p];
+ // btScalar margin = getMargin();
+ plane[3] -= getMargin();
+ shiftedPlaneEquations.push_back(plane);
+ }
- btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
- btConvexHullComputer conv;
- conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+ btAlignedObjectArray<btVector3> tmpVertices;
-#else
- btConvexHullComputer conv;
- conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
-
-#endif
+ 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);
+ }
@@ -107,9 +117,6 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
int numEdges = 0;
//compute face normals
- btScalar maxCross2 = 0.f;
- int chosenEdge = -1;
-
do
{
@@ -192,7 +199,8 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
{
//do the merge: use Graham Scan 2d convex hull
- btAlignedObjectArray<GrahamVector2> orgpoints;
+ btAlignedObjectArray<GrahamVector3> orgpoints;
+ btVector3 averageFaceNormal(0,0,0);
for (int i=0;i<coplanarFaceGroup.size();i++)
{
@@ -200,16 +208,12 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
btFace& face = tmpFaces[coplanarFaceGroup[i]];
btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
- btVector3 xyPlaneNormal(0,0,1);
-
- btQuaternion rotationArc = shortestArcQuat(faceNormal,xyPlaneNormal);
-
+ 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];
- btVector3 rotatedPt = quatRotate(rotationArc,pt);
- rotatedPt.setZ(0);
+
bool found = false;
for (int i=0;i<orgpoints.size();i++)
@@ -222,34 +226,45 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
}
}
if (!found)
- orgpoints.push_back(GrahamVector2(rotatedPt,orgIndex));
+ orgpoints.push_back(GrahamVector3(pt,orgIndex));
}
}
+
+
btFace combinedFace;
for (int i=0;i<4;i++)
combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
- btAlignedObjectArray<GrahamVector2> hull;
- GrahamScanConvexHull2D(orgpoints,hull);
+ btAlignedObjectArray<GrahamVector3> hull;
+
+ averageFaceNormal.normalize();
+ GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
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++) {
- if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) {
+ for(int k = 0; k < orgpoints.size(); k++)
+ {
+ if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
+ {
orgpoints[k].m_orgIndex = -1; // invalidate...
break;
- }
+ }
}
}
+
// 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...
// this vertex is rejected -- is anybody else using this vertex?
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;
@@ -275,20 +290,23 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
if(reject_merge)
break;
}
- if(!reject_merge) {
+
+ if (!reject_merge)
+ {
// do this merge!
did_merge = true;
- m_polyhedron->m_faces.push_back(combinedFace);
+ m_polyhedron->m_faces.push_back(combinedFace);
}
}
if(!did_merge)
{
for (int i=0;i<coplanarFaceGroup.size();i++)
{
- m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+ btFace face = tmpFaces[coplanarFaceGroup[i]];
+ m_polyhedron->m_faces.push_back(face);
}
- }
+ }
@@ -299,6 +317,9 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
return true;
}
+#ifndef MIN
+ #define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
+#endif
btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
@@ -323,17 +344,19 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
btVector3 vtx;
btScalar newDot;
- for (i=0;i<getNumVertices();i++)
- {
- getVertex(i,vtx);
- newDot = vec.dot(vtx);
+ 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 = vtx;
- }
- }
-
+ supVec = temp[i];
+ }
+ }
#endif //__SPU__
return supVec;
@@ -356,21 +379,23 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
for (int j=0;j<numVectors;j++)
{
-
- const btVector3& vec = vectors[j];
-
- for (i=0;i<getNumVertices();i++)
- {
- getVertex(i,vtx);
- newDot = vec.dot(vtx);
- if (newDot > supportVerticesOut[j][3])
- {
- //WARNING: don't swap next lines, the w component would get overwritten!
- supportVerticesOut[j] = vtx;
+ 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__
}
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