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path: root/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp135
1 files changed, 72 insertions, 63 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
index 23d66a3bbc8..105b7eccefa 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
@@ -70,7 +70,7 @@ void btVoronoiSimplexSolver::reset()
m_cachedValidClosest = false;
m_numVertices = 0;
m_needsUpdate = true;
- m_lastW = btVector3(1e30f,1e30f,1e30f);
+ m_lastW = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_cachedBC.reset();
}
@@ -109,7 +109,7 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
m_cachedP2 = m_simplexPointsQ[0];
m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
m_cachedBC.reset();
- m_cachedBC.setBarycentricCoordinates(1.f,0.f,0.f,0.f);
+ m_cachedBC.setBarycentricCoordinates(btScalar(1.),btScalar(0.),btScalar(0.),btScalar(0.));
m_cachedValidClosest = m_cachedBC.isValid();
break;
};
@@ -120,13 +120,13 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
const btVector3& to = m_simplexVectorW[1];
btVector3 nearest;
- btVector3 p (0.f,0.f,0.f);
+ btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 diff = p - from;
btVector3 v = to - from;
- float t = v.dot(diff);
+ btScalar t = v.dot(diff);
if (t > 0) {
- float dotVV = v.dot(v);
+ btScalar dotVV = v.dot(v);
if (t < dotVV) {
t /= dotVV;
diff -= t*v;
@@ -156,38 +156,36 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
m_cachedValidClosest = m_cachedBC.isValid();
break;
}
- case 3:
- {
- //closest point origin from triangle
- btVector3 p (0.f,0.f,0.f);
-
- const btVector3& a = m_simplexVectorW[0];
- const btVector3& b = m_simplexVectorW[1];
- const btVector3& c = m_simplexVectorW[2];
+ case 3:
+ {
+ //closest point origin from triangle
+ btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
- closestPtPointTriangle(p,a,b,c,m_cachedBC);
- m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
- m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
- m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
- m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
+ const btVector3& a = m_simplexVectorW[0];
+ const btVector3& b = m_simplexVectorW[1];
+ const btVector3& c = m_simplexVectorW[2];
- m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
- m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
- m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
- m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
+ closestPtPointTriangle(p,a,b,c,m_cachedBC);
+ m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
+ m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
+ m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2];
- m_cachedV = m_cachedP1-m_cachedP2;
+ m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
+ m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
+ m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2];
- reduceVertices (m_cachedBC.m_usedVertices);
- m_cachedValidClosest = m_cachedBC.isValid();
+ m_cachedV = m_cachedP1-m_cachedP2;
- break;
+ reduceVertices (m_cachedBC.m_usedVertices);
+ m_cachedValidClosest = m_cachedBC.isValid();
+
+ break;
}
case 4:
{
- btVector3 p (0.f,0.f,0.f);
+ btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
const btVector3& a = m_simplexVectorW[0];
const btVector3& b = m_simplexVectorW[1];
@@ -222,7 +220,7 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
{
m_cachedValidClosest = true;
//degenerate case == false, penetration = true + zero
- m_cachedV.setValue(0.f,0.f,0.f);
+ m_cachedV.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
break;
}
@@ -256,7 +254,7 @@ bool btVoronoiSimplexSolver::closest(btVector3& v)
btScalar btVoronoiSimplexSolver::maxVertex()
{
int i, numverts = numVertices();
- btScalar maxV = 0.f;
+ btScalar maxV = btScalar(0.);
for (i=0;i<numverts;i++)
{
btScalar curLen2 = m_simplexVectorW[i].length2();
@@ -288,7 +286,7 @@ bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
{
bool found = false;
int i, numverts = numVertices();
- //btScalar maxV = 0.f;
+ //btScalar maxV = btScalar(0.);
//w is in the current (reduced) simplex
for (i=0;i<numverts;i++)
@@ -335,9 +333,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
btVector3 ab = b - a;
btVector3 ac = c - a;
btVector3 ap = p - a;
- float d1 = ab.dot(ap);
- float d2 = ac.dot(ap);
- if (d1 <= 0.0f && d2 <= 0.0f)
+ btScalar d1 = ab.dot(ap);
+ btScalar d2 = ac.dot(ap);
+ if (d1 <= btScalar(0.0) && d2 <= btScalar(0.0))
{
result.m_closestPointOnSimplex = a;
result.m_usedVertices.usedVertexA = true;
@@ -347,9 +345,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
// Check if P in vertex region outside B
btVector3 bp = p - b;
- float d3 = ab.dot(bp);
- float d4 = ac.dot(bp);
- if (d3 >= 0.0f && d4 <= d3)
+ btScalar d3 = ab.dot(bp);
+ btScalar d4 = ac.dot(bp);
+ if (d3 >= btScalar(0.0) && d4 <= d3)
{
result.m_closestPointOnSimplex = b;
result.m_usedVertices.usedVertexB = true;
@@ -358,9 +356,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
return true; // b; // barycentric coordinates (0,1,0)
}
// Check if P in edge region of AB, if so return projection of P onto AB
- float vc = d1*d4 - d3*d2;
- if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) {
- float v = d1 / (d1 - d3);
+ btScalar vc = d1*d4 - d3*d2;
+ if (vc <= btScalar(0.0) && d1 >= btScalar(0.0) && d3 <= btScalar(0.0)) {
+ btScalar v = d1 / (d1 - d3);
result.m_closestPointOnSimplex = a + v * ab;
result.m_usedVertices.usedVertexA = true;
result.m_usedVertices.usedVertexB = true;
@@ -371,9 +369,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
// Check if P in vertex region outside C
btVector3 cp = p - c;
- float d5 = ab.dot(cp);
- float d6 = ac.dot(cp);
- if (d6 >= 0.0f && d5 <= d6)
+ btScalar d5 = ab.dot(cp);
+ btScalar d6 = ac.dot(cp);
+ if (d6 >= btScalar(0.0) && d5 <= d6)
{
result.m_closestPointOnSimplex = c;
result.m_usedVertices.usedVertexC = true;
@@ -382,9 +380,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
}
// Check if P in edge region of AC, if so return projection of P onto AC
- float vb = d5*d2 - d1*d6;
- if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) {
- float w = d2 / (d2 - d6);
+ btScalar vb = d5*d2 - d1*d6;
+ if (vb <= btScalar(0.0) && d2 >= btScalar(0.0) && d6 <= btScalar(0.0)) {
+ btScalar w = d2 / (d2 - d6);
result.m_closestPointOnSimplex = a + w * ac;
result.m_usedVertices.usedVertexA = true;
result.m_usedVertices.usedVertexC = true;
@@ -394,9 +392,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
}
// Check if P in edge region of BC, if so return projection of P onto BC
- float va = d3*d6 - d5*d4;
- if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) {
- float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
+ btScalar va = d3*d6 - d5*d4;
+ if (va <= btScalar(0.0) && (d4 - d3) >= btScalar(0.0) && (d5 - d6) >= btScalar(0.0)) {
+ btScalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
result.m_closestPointOnSimplex = b + w * (c - b);
result.m_usedVertices.usedVertexB = true;
@@ -407,9 +405,9 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
}
// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
- float denom = 1.0f / (va + vb + vc);
- float v = vb * denom;
- float w = vc * denom;
+ btScalar denom = btScalar(1.0) / (va + vb + vc);
+ btScalar v = vb * denom;
+ btScalar w = vc * denom;
result.m_closestPointOnSimplex = a + ab * v + ac * w;
result.m_usedVertices.usedVertexA = true;
@@ -418,7 +416,7 @@ bool btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
result.setBarycentricCoordinates(1-v-w,v,w);
return true;
-// return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = 1.0f - v - w
+// return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = btScalar(1.0) - v - w
}
@@ -431,18 +429,26 @@ int btVoronoiSimplexSolver::pointOutsideOfPlane(const btPoint3& p, const btPoint
{
btVector3 normal = (b-a).cross(c-a);
- float signp = (p - a).dot(normal); // [AP AB AC]
- float signd = (d - a).dot( normal); // [AD AB AC]
+ btScalar signp = (p - a).dot(normal); // [AP AB AC]
+ btScalar signd = (d - a).dot( normal); // [AD AB AC]
#ifdef CATCH_DEGENERATE_TETRAHEDRON
- if (signd * signd < (1e-4f * 1e-4f))
+#ifdef BT_USE_DOUBLE_PRECISION
+if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
+ {
+ return -1;
+ }
+#else
+ if (signd * signd < (btScalar(1e-4) * btScalar(1e-4)))
{
// printf("affine dependent/degenerate\n");//
return -1;
}
#endif
+
+#endif
// Points on opposite sides if expression signs are opposite
- return signp * signd < 0.f;
+ return signp * signd < btScalar(0.);
}
@@ -475,14 +481,14 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
}
- float bestSqDist = FLT_MAX;
+ btScalar bestSqDist = FLT_MAX;
// If point outside face abc then compute closest point on abc
if (pointOutsideABC)
{
closestPtPointTriangle(p, a, b, c,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
- float sqDist = (q - p).dot( q - p);
+ btScalar sqDist = (q - p).dot( q - p);
// Update best closest point if (squared) distance is less than current best
if (sqDist < bestSqDist) {
bestSqDist = sqDist;
@@ -510,13 +516,14 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
- float sqDist = (q - p).dot( q - p);
+ btScalar sqDist = (q - p).dot( q - p);
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;
finalResult.m_closestPointOnSimplex = q;
finalResult.m_usedVertices.reset();
finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
+
finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
finalResult.setBarycentricCoordinates(
@@ -537,15 +544,16 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
- float sqDist = (q - p).dot( q - p);
+ btScalar sqDist = (q - p).dot( q - p);
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;
finalResult.m_closestPointOnSimplex = q;
finalResult.m_usedVertices.reset();
finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
- finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
+
+ finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
finalResult.setBarycentricCoordinates(
tempResult.m_barycentricCoords[VERTA],
tempResult.m_barycentricCoords[VERTC],
@@ -563,15 +571,16 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
closestPtPointTriangle(p, b, d, c,tempResult);
btPoint3 q = tempResult.m_closestPointOnSimplex;
//convert result bitmask!
- float sqDist = (q - p).dot( q - p);
+ btScalar sqDist = (q - p).dot( q - p);
if (sqDist < bestSqDist)
{
bestSqDist = sqDist;
finalResult.m_closestPointOnSimplex = q;
finalResult.m_usedVertices.reset();
+ //
finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexA;
- finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
+ finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
finalResult.setBarycentricCoordinates(
0,
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-09 05:32:44 +0300