diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp | 135 |
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, |