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path: root/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp
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-rw-r--r--extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp88
1 files changed, 41 insertions, 47 deletions
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp
index 0c3d7ba8db0..0c7a6b7fc1b 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp
@@ -28,67 +28,64 @@ email: projectileman@yahoo.com
-----------------------------------------------------------------------------
*/
-
#include "gim_box_set.h"
-
GUINT GIM_BOX_TREE::_calc_splitting_axis(
- gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex, GUINT endIndex)
+ gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex)
{
GUINT i;
- btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
- btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
- GUINT numIndices = endIndex-startIndex;
+ btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+ btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
+ GUINT numIndices = endIndex - startIndex;
- for (i=startIndex;i<endIndex;i++)
+ for (i = startIndex; i < endIndex; i++)
{
- btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
- primitive_boxes[i].m_bound.m_min);
- means+=center;
+ btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+ primitive_boxes[i].m_bound.m_min);
+ means += center;
}
- means *= (btScalar(1.)/(btScalar)numIndices);
+ means *= (btScalar(1.) / (btScalar)numIndices);
- for (i=startIndex;i<endIndex;i++)
+ for (i = startIndex; i < endIndex; i++)
{
- btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
- primitive_boxes[i].m_bound.m_min);
- btVector3 diff2 = center-means;
+ btVector3 center = btScalar(0.5) * (primitive_boxes[i].m_bound.m_max +
+ primitive_boxes[i].m_bound.m_min);
+ btVector3 diff2 = center - means;
diff2 = diff2 * diff2;
variance += diff2;
}
- variance *= (btScalar(1.)/ ((btScalar)numIndices-1) );
+ variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
return variance.maxAxis();
}
-
GUINT GIM_BOX_TREE::_sort_and_calc_splitting_index(
- gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,
+ gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex,
GUINT endIndex, GUINT splitAxis)
{
GUINT i;
- GUINT splitIndex =startIndex;
+ GUINT splitIndex = startIndex;
GUINT numIndices = endIndex - startIndex;
// average of centers
btScalar splitValue = 0.0f;
- for (i=startIndex;i<endIndex;i++)
+ for (i = startIndex; i < endIndex; i++)
{
- splitValue+= 0.5f*(primitive_boxes[i].m_bound.m_max[splitAxis] +
- primitive_boxes[i].m_bound.m_min[splitAxis]);
+ splitValue += 0.5f * (primitive_boxes[i].m_bound.m_max[splitAxis] +
+ primitive_boxes[i].m_bound.m_min[splitAxis]);
}
splitValue /= (btScalar)numIndices;
//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
- for (i=startIndex;i<endIndex;i++)
+ for (i = startIndex; i < endIndex; i++)
{
- btScalar center = 0.5f*(primitive_boxes[i].m_bound.m_max[splitAxis] +
- primitive_boxes[i].m_bound.m_min[splitAxis]);
+ btScalar center = 0.5f * (primitive_boxes[i].m_bound.m_max[splitAxis] +
+ primitive_boxes[i].m_bound.m_min[splitAxis]);
if (center > splitValue)
{
//swap
- primitive_boxes.swap(i,splitIndex);
+ primitive_boxes.swap(i, splitIndex);
splitIndex++;
}
}
@@ -102,28 +99,27 @@ GUINT GIM_BOX_TREE::_sort_and_calc_splitting_index(
//bool unbalanced2 = true;
//this should be safe too:
- GUINT rangeBalancedIndices = numIndices/3;
- bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
+ GUINT rangeBalancedIndices = numIndices / 3;
+ bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
if (unbalanced)
{
- splitIndex = startIndex+ (numIndices>>1);
+ splitIndex = startIndex + (numIndices >> 1);
}
- btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
+ btAssert(!((splitIndex == startIndex) || (splitIndex == (endIndex))));
return splitIndex;
}
-
-void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex, GUINT endIndex)
+void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA>& primitive_boxes, GUINT startIndex, GUINT endIndex)
{
GUINT current_index = m_num_nodes++;
- btAssert((endIndex-startIndex)>0);
+ btAssert((endIndex - startIndex) > 0);
- if((endIndex-startIndex) == 1) //we got a leaf
- {
+ if ((endIndex - startIndex) == 1) //we got a leaf
+ {
m_node_array[current_index].m_left = 0;
m_node_array[current_index].m_right = 0;
m_node_array[current_index].m_escapeIndex = 0;
@@ -138,8 +134,8 @@ void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, G
GUINT splitIndex;
//calc this node bounding box
- m_node_array[current_index].m_bound.invalidate();
- for (splitIndex=startIndex;splitIndex<endIndex;splitIndex++)
+ m_node_array[current_index].m_bound.invalidate();
+ for (splitIndex = startIndex; splitIndex < endIndex; splitIndex++)
{
m_node_array[current_index].m_bound.merge(primitive_boxes[splitIndex].m_bound);
}
@@ -147,36 +143,34 @@ void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, G
//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
//split axis
- splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex);
+ splitIndex = _calc_splitting_axis(primitive_boxes, startIndex, endIndex);
splitIndex = _sort_and_calc_splitting_index(
- primitive_boxes,startIndex,endIndex,splitIndex);
+ primitive_boxes, startIndex, endIndex, splitIndex);
//configure this inner node : the left node index
m_node_array[current_index].m_left = m_num_nodes;
//build left child tree
- _build_sub_tree(primitive_boxes, startIndex, splitIndex );
+ _build_sub_tree(primitive_boxes, startIndex, splitIndex);
//configure this inner node : the right node index
m_node_array[current_index].m_right = m_num_nodes;
//build right child tree
- _build_sub_tree(primitive_boxes, splitIndex ,endIndex);
+ _build_sub_tree(primitive_boxes, splitIndex, endIndex);
//configure this inner node : the escape index
- m_node_array[current_index].m_escapeIndex = m_num_nodes - current_index;
+ m_node_array[current_index].m_escapeIndex = m_num_nodes - current_index;
}
//! stackless build tree
void GIM_BOX_TREE::build_tree(
- gim_array<GIM_AABB_DATA> & primitive_boxes)
+ gim_array<GIM_AABB_DATA>& primitive_boxes)
{
// initialize node count to 0
m_num_nodes = 0;
// allocate nodes
- m_node_array.resize(primitive_boxes.size()*2);
-
+ m_node_array.resize(primitive_boxes.size() * 2);
+
_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
}
-
-
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