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path: root/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp96
1 files changed, 71 insertions, 25 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index ada20d3ef7a..f74261d4b21 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -68,7 +68,43 @@ namespace gjkepa2_impl
const btConvexShape* m_shapes[2];
btMatrix3x3 m_toshape1;
btTransform m_toshape0;
+#ifdef __SPU__
+ bool m_enableMargin;
+#else
btVector3 (btConvexShape::*Ls)(const btVector3&) const;
+#endif//__SPU__
+
+
+ MinkowskiDiff()
+ {
+
+ }
+#ifdef __SPU__
+ void EnableMargin(bool enable)
+ {
+ m_enableMargin = enable;
+ }
+ inline btVector3 Support0(const btVector3& d) const
+ {
+ if (m_enableMargin)
+ {
+ return m_shapes[0]->localGetSupportVertexNonVirtual(d);
+ } else
+ {
+ return m_shapes[0]->localGetSupportVertexWithoutMarginNonVirtual(d);
+ }
+ }
+ inline btVector3 Support1(const btVector3& d) const
+ {
+ if (m_enableMargin)
+ {
+ return m_toshape0*(m_shapes[1]->localGetSupportVertexNonVirtual(m_toshape1*d));
+ } else
+ {
+ return m_toshape0*(m_shapes[1]->localGetSupportVertexWithoutMarginNonVirtual(m_toshape1*d));
+ }
+ }
+#else
void EnableMargin(bool enable)
{
if(enable)
@@ -84,6 +120,8 @@ namespace gjkepa2_impl
{
return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d));
}
+#endif //__SPU__
+
inline btVector3 Support(const btVector3& d) const
{
return(Support0(d)-Support1(-d));
@@ -202,7 +240,7 @@ namespace gjkepa2_impl
lastw[clastw=(clastw+1)&3]=w;
}
/* Check for termination */
- const btScalar omega=dot(m_ray,w)/rl;
+ const btScalar omega=btDot(m_ray,w)/rl;
alpha=btMax(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
{/* Return old simplex */
@@ -259,6 +297,9 @@ namespace gjkepa2_impl
{
case eStatus::Valid: m_distance=m_ray.length();break;
case eStatus::Inside: m_distance=0;break;
+ default:
+ {
+ }
}
return(m_status);
}
@@ -288,7 +329,7 @@ namespace gjkepa2_impl
{
btVector3 axis=btVector3(0,0,0);
axis[i]=1;
- const btVector3 p=cross(d,axis);
+ const btVector3 p=btCross(d,axis);
if(p.length2()>0)
{
appendvertice(*m_simplex, p);
@@ -303,7 +344,7 @@ namespace gjkepa2_impl
break;
case 3:
{
- const btVector3 n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
+ const btVector3 n=btCross(m_simplex->c[1]->w-m_simplex->c[0]->w,
m_simplex->c[2]->w-m_simplex->c[0]->w);
if(n.length2()>0)
{
@@ -357,7 +398,7 @@ namespace gjkepa2_impl
const btScalar l=d.length2();
if(l>GJK_SIMPLEX2_EPS)
{
- const btScalar t(l>0?-dot(a,d)/l:0);
+ const btScalar t(l>0?-btDot(a,d)/l:0);
if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length2()); }
else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length2()); }
else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
@@ -372,16 +413,16 @@ namespace gjkepa2_impl
static const U imd3[]={1,2,0};
const btVector3* vt[]={&a,&b,&c};
const btVector3 dl[]={a-b,b-c,c-a};
- const btVector3 n=cross(dl[0],dl[1]);
+ const btVector3 n=btCross(dl[0],dl[1]);
const btScalar l=n.length2();
if(l>GJK_SIMPLEX3_EPS)
{
btScalar mindist=-1;
- btScalar subw[2];
- U subm;
+ btScalar subw[2]={0.f,0.f};
+ U subm(0);
for(U i=0;i<3;++i)
{
- if(dot(*vt[i],cross(dl[i],n))>0)
+ if(btDot(*vt[i],btCross(dl[i],n))>0)
{
const U j=imd3[i];
const btScalar subd(projectorigin(*vt[i],*vt[j],subw,subm));
@@ -397,13 +438,13 @@ namespace gjkepa2_impl
}
if(mindist<0)
{
- const btScalar d=dot(a,n);
+ const btScalar d=btDot(a,n);
const btScalar s=btSqrt(l);
const btVector3 p=n*(d/l);
mindist = p.length2();
m = 7;
- w[0] = (cross(dl[1],b-p)).length()/s;
- w[1] = (cross(dl[2],c-p)).length()/s;
+ w[0] = (btCross(dl[1],b-p)).length()/s;
+ w[1] = (btCross(dl[2],c-p)).length()/s;
w[2] = 1-(w[0]+w[1]);
}
return(mindist);
@@ -420,16 +461,16 @@ namespace gjkepa2_impl
const btVector3* vt[]={&a,&b,&c,&d};
const btVector3 dl[]={a-d,b-d,c-d};
const btScalar vl=det(dl[0],dl[1],dl[2]);
- const bool ng=(vl*dot(a,cross(b-c,a-b)))<=0;
+ const bool ng=(vl*btDot(a,btCross(b-c,a-b)))<=0;
if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
{
btScalar mindist=-1;
- btScalar subw[3];
- U subm;
+ btScalar subw[3]={0.f,0.f,0.f};
+ U subm(0);
for(U i=0;i<3;++i)
{
const U j=imd3[i];
- const btScalar s=vl*dot(d,cross(dl[i],dl[j]));
+ const btScalar s=vl*btDot(d,btCross(dl[i],dl[j]));
if(s>0)
{
const btScalar subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
@@ -601,7 +642,7 @@ namespace gjkepa2_impl
bool valid=true;
best->pass = (U1)(++pass);
gjk.getsupport(best->n,*w);
- const btScalar wdist=dot(best->n,w->w)-best->d;
+ const btScalar wdist=btDot(best->n,w->w)-best->d;
if(wdist>EPA_ACCURACY)
{
for(U j=0;(j<3)&&valid;++j)
@@ -628,11 +669,11 @@ namespace gjkepa2_impl
m_result.c[0] = outer.c[0];
m_result.c[1] = outer.c[1];
m_result.c[2] = outer.c[2];
- m_result.p[0] = cross( outer.c[1]->w-projection,
+ m_result.p[0] = btCross( outer.c[1]->w-projection,
outer.c[2]->w-projection).length();
- m_result.p[1] = cross( outer.c[2]->w-projection,
+ m_result.p[1] = btCross( outer.c[2]->w-projection,
outer.c[0]->w-projection).length();
- m_result.p[2] = cross( outer.c[0]->w-projection,
+ m_result.p[2] = btCross( outer.c[0]->w-projection,
outer.c[1]->w-projection).length();
const btScalar sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
m_result.p[0] /= sum;
@@ -666,18 +707,18 @@ namespace gjkepa2_impl
face->c[0] = a;
face->c[1] = b;
face->c[2] = c;
- face->n = cross(b->w-a->w,c->w-a->w);
+ face->n = btCross(b->w-a->w,c->w-a->w);
const btScalar l=face->n.length();
const bool v=l>EPA_ACCURACY;
face->p = btMin(btMin(
- dot(a->w,cross(face->n,a->w-b->w)),
- dot(b->w,cross(face->n,b->w-c->w))),
- dot(c->w,cross(face->n,c->w-a->w))) /
+ btDot(a->w,btCross(face->n,a->w-b->w)),
+ btDot(b->w,btCross(face->n,b->w-c->w))),
+ btDot(c->w,btCross(face->n,c->w-a->w))) /
(v?l:1);
face->p = face->p>=-EPA_INSIDE_EPS?0:face->p;
if(v)
{
- face->d = dot(a->w,face->n)/l;
+ face->d = btDot(a->w,face->n)/l;
face->n /= l;
if(forced||(face->d>=-EPA_PLANE_EPS))
{
@@ -715,7 +756,7 @@ namespace gjkepa2_impl
if(f->pass!=pass)
{
const U e1=i1m3[e];
- if((dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
+ if((btDot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
{
sFace* nf=newface(f->c[e1],f->c[e],w,false);
if(nf)
@@ -854,10 +895,14 @@ bool btGjkEpaSolver2::Penetration( const btConvexShape* shape0,
case GJK::eStatus::Failed:
results.status=sResults::GJK_Failed;
break;
+ default:
+ {
+ }
}
return(false);
}
+#ifndef __SPU__
//
btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position,
btScalar margin,
@@ -923,6 +968,7 @@ bool btGjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
else
return(true);
}
+#endif //__SPU__
/* Symbols cleanup */
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-27 13:29:59 +0300