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Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.cpp164
1 files changed, 164 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.cpp
new file mode 100644
index 00000000000..a87b87f1a6f
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.cpp
@@ -0,0 +1,164 @@
+/*
+btbtShapeHull implemented by John McCutchan.
+
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
+
+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 "btShapeHull.h"
+#include "LinearMath/btConvexHull.h"
+
+#define NUM_UNITSPHERE_POINTS 42
+
+static btVector3 btUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
+{
+ btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
+ btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
+ btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
+ btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
+ btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
+ btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
+ btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
+ btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
+ btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
+ btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
+ btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
+ btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
+ btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
+ btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
+ btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
+ btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
+ btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
+ btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
+ btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
+ btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
+ btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
+ btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
+ btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
+ btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
+ btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+ btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
+ btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+ btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
+ btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
+ btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+ btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
+ btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+ btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
+ btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
+ btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
+ btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
+ btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
+ btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
+ btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
+ btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
+ btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
+ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
+};
+
+btShapeHull::btShapeHull (const btConvexShape* shape)
+{
+ m_shape = shape;
+ m_vertices.clear ();
+ m_indices.clear();
+ m_numIndices = 0;
+}
+
+btShapeHull::~btShapeHull ()
+{
+ m_indices.clear();
+ m_vertices.clear ();
+}
+
+bool
+btShapeHull::buildHull (btScalar /*margin*/)
+{
+ int numSampleDirections = NUM_UNITSPHERE_POINTS;
+ {
+ int numPDA = m_shape->getNumPreferredPenetrationDirections();
+ if (numPDA)
+ {
+ for (int i=0;i<numPDA;i++)
+ {
+ btVector3 norm;
+ m_shape->getPreferredPenetrationDirection(i,norm);
+ btUnitSpherePoints[numSampleDirections] = norm;
+ numSampleDirections++;
+ }
+ }
+ }
+
+ btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+ int i;
+ for (i = 0; i < numSampleDirections; i++)
+ {
+ supportPoints[i] = m_shape->localGetSupportingVertex(btUnitSpherePoints[i]);
+ }
+
+ HullDesc hd;
+ hd.mFlags = QF_TRIANGLES;
+ hd.mVcount = static_cast<unsigned int>(numSampleDirections);
+
+#ifdef BT_USE_DOUBLE_PRECISION
+ hd.mVertices = &supportPoints[0];
+ hd.mVertexStride = sizeof(btVector3);
+#else
+ hd.mVertices = &supportPoints[0];
+ hd.mVertexStride = sizeof (btVector3);
+#endif
+
+ HullLibrary hl;
+ HullResult hr;
+ if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
+ {
+ return false;
+ }
+
+ m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
+
+
+ for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
+ {
+ m_vertices[i] = hr.m_OutputVertices[i];
+ }
+ m_numIndices = hr.mNumIndices;
+ m_indices.resize(static_cast<int>(m_numIndices));
+ for (i = 0; i < static_cast<int>(m_numIndices); i++)
+ {
+ m_indices[i] = hr.m_Indices[i];
+ }
+
+ // free temporary hull result that we just copied
+ hl.ReleaseResult (hr);
+
+ return true;
+}
+
+int
+btShapeHull::numTriangles () const
+{
+ return static_cast<int>(m_numIndices / 3);
+}
+
+int
+btShapeHull::numVertices () const
+{
+ return m_vertices.size ();
+}
+
+int
+btShapeHull::numIndices () const
+{
+ return static_cast<int>(m_numIndices);
+}
+