diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp | 495 |
1 files changed, 230 insertions, 265 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp index 23b4f79cfc2..8fda94d2adf 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp @@ -23,26 +23,24 @@ subject to the following restrictions: */ - #include "btVoronoiSimplexSolver.h" -#define VERTA 0 -#define VERTB 1 -#define VERTC 2 -#define VERTD 3 +#define VERTA 0 +#define VERTB 1 +#define VERTC 2 +#define VERTD 3 #define CATCH_DEGENERATE_TETRAHEDRON 1 -void btVoronoiSimplexSolver::removeVertex(int index) +void btVoronoiSimplexSolver::removeVertex(int index) { - - btAssert(m_numVertices>0); + btAssert(m_numVertices > 0); m_numVertices--; m_simplexVectorW[index] = m_simplexVectorW[m_numVertices]; m_simplexPointsP[index] = m_simplexPointsP[m_numVertices]; m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices]; } -void btVoronoiSimplexSolver::reduceVertices (const btUsageBitfield& usedVerts) +void btVoronoiSimplexSolver::reduceVertices(const btUsageBitfield& usedVerts) { if ((numVertices() >= 4) && (!usedVerts.usedVertexD)) removeVertex(3); @@ -52,29 +50,22 @@ void btVoronoiSimplexSolver::reduceVertices (const btUsageBitfield& usedVerts) if ((numVertices() >= 2) && (!usedVerts.usedVertexB)) removeVertex(1); - + if ((numVertices() >= 1) && (!usedVerts.usedVertexA)) removeVertex(0); - } - - - - //clear the simplex, remove all the vertices void btVoronoiSimplexSolver::reset() { m_cachedValidClosest = false; m_numVertices = 0; m_needsUpdate = true; - m_lastW = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_lastW = btVector3(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)); m_cachedBC.reset(); } - - - //add a vertex +//add a vertex void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q) { m_lastW = w; @@ -87,9 +78,8 @@ void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, c m_numVertices++; } -bool btVoronoiSimplexSolver::updateClosestVectorAndPoints() +bool btVoronoiSimplexSolver::updateClosestVectorAndPoints() { - if (m_needsUpdate) { m_cachedBC.reset(); @@ -98,127 +88,131 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints() switch (numVertices()) { - case 0: + case 0: m_cachedValidClosest = false; break; - case 1: + case 1: { m_cachedP1 = m_simplexPointsP[0]; m_cachedP2 = m_simplexPointsQ[0]; - m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0] + m_cachedV = m_cachedP1 - m_cachedP2; //== m_simplexVectorW[0] m_cachedBC.reset(); - m_cachedBC.setBarycentricCoordinates(btScalar(1.),btScalar(0.),btScalar(0.),btScalar(0.)); + m_cachedBC.setBarycentricCoordinates(btScalar(1.), btScalar(0.), btScalar(0.), btScalar(0.)); m_cachedValidClosest = m_cachedBC.isValid(); break; }; - case 2: + case 2: { - //closest point origin from line segment - const btVector3& from = m_simplexVectorW[0]; - const btVector3& to = m_simplexVectorW[1]; - btVector3 nearest; - - btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.)); - btVector3 diff = p - from; - btVector3 v = to - from; - btScalar t = v.dot(diff); - - if (t > 0) { - btScalar dotVV = v.dot(v); - if (t < dotVV) { - t /= dotVV; - diff -= t*v; - m_cachedBC.m_usedVertices.usedVertexA = true; - m_cachedBC.m_usedVertices.usedVertexB = true; - } else { - t = 1; - diff -= v; - //reduce to 1 point - m_cachedBC.m_usedVertices.usedVertexB = true; - } - } else + //closest point origin from line segment + const btVector3& from = m_simplexVectorW[0]; + const btVector3& to = m_simplexVectorW[1]; + btVector3 nearest; + + btVector3 p(btScalar(0.), btScalar(0.), btScalar(0.)); + btVector3 diff = p - from; + btVector3 v = to - from; + btScalar t = v.dot(diff); + + if (t > 0) + { + btScalar dotVV = v.dot(v); + if (t < dotVV) { - t = 0; - //reduce to 1 point + t /= dotVV; + diff -= t * v; m_cachedBC.m_usedVertices.usedVertexA = true; + m_cachedBC.m_usedVertices.usedVertexB = true; + } + else + { + t = 1; + diff -= v; + //reduce to 1 point + m_cachedBC.m_usedVertices.usedVertexB = true; } - m_cachedBC.setBarycentricCoordinates(1-t,t); - nearest = from + t*v; + } + else + { + t = 0; + //reduce to 1 point + m_cachedBC.m_usedVertices.usedVertexA = true; + } + m_cachedBC.setBarycentricCoordinates(1 - t, t); + nearest = from + t * v; - m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]); - m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]); - m_cachedV = m_cachedP1 - m_cachedP2; - - reduceVertices(m_cachedBC.m_usedVertices); + m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]); + m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]); + m_cachedV = m_cachedP1 - m_cachedP2; - m_cachedValidClosest = m_cachedBC.isValid(); - break; + reduceVertices(m_cachedBC.m_usedVertices); + + m_cachedValidClosest = m_cachedBC.isValid(); + break; } - case 3: - { - //closest point origin from triangle - btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.)); + case 3: + { + //closest point origin from triangle + btVector3 p(btScalar(0.), btScalar(0.), btScalar(0.)); - const btVector3& a = m_simplexVectorW[0]; - const btVector3& b = m_simplexVectorW[1]; - const btVector3& c = m_simplexVectorW[2]; + const btVector3& a = m_simplexVectorW[0]; + const btVector3& b = m_simplexVectorW[1]; + const btVector3& c = m_simplexVectorW[2]; - 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]; + 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_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_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_cachedV = m_cachedP1-m_cachedP2; + m_cachedV = m_cachedP1 - m_cachedP2; - reduceVertices (m_cachedBC.m_usedVertices); - m_cachedValidClosest = m_cachedBC.isValid(); + reduceVertices(m_cachedBC.m_usedVertices); + m_cachedValidClosest = m_cachedBC.isValid(); - break; + break; } - case 4: + case 4: { + btVector3 p(btScalar(0.), btScalar(0.), btScalar(0.)); - - btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.)); - const btVector3& a = m_simplexVectorW[0]; const btVector3& b = m_simplexVectorW[1]; const btVector3& c = m_simplexVectorW[2]; const btVector3& d = m_simplexVectorW[3]; - bool hasSeperation = closestPtPointTetrahedron(p,a,b,c,d,m_cachedBC); + bool hasSeparation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); - if (hasSeperation) + if (hasSeparation) { - 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]; + m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + + m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] + + m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3]; 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]; + m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] + + m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] + + m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3]; - m_cachedV = m_cachedP1-m_cachedP2; - reduceVertices (m_cachedBC.m_usedVertices); - } else + m_cachedV = m_cachedP1 - m_cachedP2; + reduceVertices(m_cachedBC.m_usedVertices); + } + else { -// printf("sub distance got penetration\n"); + // printf("sub distance got penetration\n"); if (m_cachedBC.m_degenerate) { m_cachedValidClosest = false; - } else + } + else { m_cachedValidClosest = true; //degenerate case == false, penetration = true + zero - m_cachedV.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + m_cachedV.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); } break; } @@ -228,7 +222,7 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints() //closest point origin from tetrahedron break; } - default: + default: { m_cachedValidClosest = false; } @@ -236,7 +230,6 @@ bool btVoronoiSimplexSolver::updateClosestVectorAndPoints() } return m_cachedValidClosest; - } //return/calculate the closest vertex @@ -247,13 +240,11 @@ bool btVoronoiSimplexSolver::closest(btVector3& v) return succes; } - - btScalar btVoronoiSimplexSolver::maxVertex() { int i, numverts = numVertices(); btScalar maxV = btScalar(0.); - for (i=0;i<numverts;i++) + for (i = 0; i < numverts; i++) { btScalar curLen2 = m_simplexVectorW[i].length2(); if (maxV < curLen2) @@ -262,13 +253,11 @@ btScalar btVoronoiSimplexSolver::maxVertex() return maxV; } - - - //return the current simplex -int btVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const +//return the current simplex +int btVoronoiSimplexSolver::getSimplex(btVector3* pBuf, btVector3* qBuf, btVector3* yBuf) const { int i; - for (i=0;i<numVertices();i++) + for (i = 0; i < numVertices(); i++) { yBuf[i] = m_simplexVectorW[i]; pBuf[i] = m_simplexPointsP[i]; @@ -277,20 +266,17 @@ int btVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVecto return numVertices(); } - - - bool btVoronoiSimplexSolver::inSimplex(const btVector3& w) { bool found = false; int i, numverts = numVertices(); //btScalar maxV = btScalar(0.); - + //w is in the current (reduced) simplex - for (i=0;i<numverts;i++) + for (i = 0; i < numverts; i++) { #ifdef BT_USE_EQUAL_VERTEX_THRESHOLD - if ( m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold) + if (m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold) #else if (m_simplexVectorW[i] == w) #endif @@ -303,199 +289,190 @@ bool btVoronoiSimplexSolver::inSimplex(const btVector3& w) //check in case lastW is already removed if (w == m_lastW) return true; - + return found; } -void btVoronoiSimplexSolver::backup_closest(btVector3& v) +void btVoronoiSimplexSolver::backup_closest(btVector3& v) { v = m_cachedV; } - -bool btVoronoiSimplexSolver::emptySimplex() const +bool btVoronoiSimplexSolver::emptySimplex() const { return (numVertices() == 0); - } -void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2) +void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2) { updateClosestVectorAndPoints(); p1 = m_cachedP1; p2 = m_cachedP2; - } - - - -bool btVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result) +bool btVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, btSubSimplexClosestResult& result) { result.m_usedVertices.reset(); - // Check if P in vertex region outside A - btVector3 ab = b - a; - btVector3 ac = c - a; - btVector3 ap = p - a; - btScalar d1 = ab.dot(ap); - btScalar d2 = ac.dot(ap); - if (d1 <= btScalar(0.0) && d2 <= btScalar(0.0)) + // Check if P in vertex region outside A + btVector3 ab = b - a; + btVector3 ac = c - a; + btVector3 ap = p - a; + 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; - result.setBarycentricCoordinates(1,0,0); - return true;// a; // barycentric coordinates (1,0,0) + result.setBarycentricCoordinates(1, 0, 0); + return true; // a; // barycentric coordinates (1,0,0) } - // Check if P in vertex region outside B - btVector3 bp = p - b; - btScalar d3 = ab.dot(bp); - btScalar d4 = ac.dot(bp); - if (d3 >= btScalar(0.0) && d4 <= d3) + // Check if P in vertex region outside B + btVector3 bp = p - b; + 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; - result.setBarycentricCoordinates(0,1,0); + result.setBarycentricCoordinates(0, 1, 0); - return true; // b; // barycentric coordinates (0,1,0) + return true; // b; // barycentric coordinates (0,1,0) } - // Check if P in edge region of AB, if so return projection of P onto AB - btScalar vc = d1*d4 - d3*d2; - if (vc <= btScalar(0.0) && d1 >= btScalar(0.0) && d3 <= btScalar(0.0)) { - btScalar v = d1 / (d1 - d3); + // Check if P in edge region of AB, if so return projection of P onto AB + 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; - result.setBarycentricCoordinates(1-v,v,0); + result.setBarycentricCoordinates(1 - v, v, 0); return true; - //return a + v * ab; // barycentric coordinates (1-v,v,0) - } - - // Check if P in vertex region outside C - btVector3 cp = p - c; - btScalar d5 = ab.dot(cp); - btScalar d6 = ac.dot(cp); - if (d6 >= btScalar(0.0) && d5 <= d6) + //return a + v * ab; // barycentric coordinates (1-v,v,0) + } + + // Check if P in vertex region outside C + btVector3 cp = p - c; + 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; - result.setBarycentricCoordinates(0,0,1); - return true;//c; // barycentric coordinates (0,0,1) + result.setBarycentricCoordinates(0, 0, 1); + return true; //c; // barycentric coordinates (0,0,1) } - // Check if P in edge region of AC, if so return projection of P onto AC - btScalar vb = d5*d2 - d1*d6; - if (vb <= btScalar(0.0) && d2 >= btScalar(0.0) && d6 <= btScalar(0.0)) { - btScalar w = d2 / (d2 - d6); + // Check if P in edge region of AC, if so return projection of P onto AC + 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; - result.setBarycentricCoordinates(1-w,0,w); + result.setBarycentricCoordinates(1 - w, 0, w); return true; - //return a + w * ac; // barycentric coordinates (1-w,0,w) - } + //return a + w * ac; // barycentric coordinates (1-w,0,w) + } + + // Check if P in edge region of BC, if so return projection of P onto BC + 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)); - // Check if P in edge region of BC, if so return projection of P onto BC - 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; result.m_usedVertices.usedVertexC = true; - result.setBarycentricCoordinates(0,1-w,w); - return true; - // return b + w * (c - b); // barycentric coordinates (0,1-w,w) - } - - // P inside face region. Compute Q through its barycentric coordinates (u,v,w) - btScalar denom = btScalar(1.0) / (va + vb + vc); - btScalar v = vb * denom; - btScalar w = vc * denom; - + result.setBarycentricCoordinates(0, 1 - w, w); + return true; + // return b + w * (c - b); // barycentric coordinates (0,1-w,w) + } + + // P inside face region. Compute Q through its barycentric coordinates (u,v,w) + 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; result.m_usedVertices.usedVertexB = true; result.m_usedVertices.usedVertexC = true; - result.setBarycentricCoordinates(1-v-w,v,w); - - return true; -// return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = btScalar(1.0) - v - w + result.setBarycentricCoordinates(1 - v - w, v, w); + return true; + // return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = btScalar(1.0) - v - w } - - - - /// Test if point p and d lie on opposite sides of plane through abc int btVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d) { - btVector3 normal = (b-a).cross(c-a); + btVector3 normal = (b - a).cross(c - a); - btScalar signp = (p - a).dot(normal); // [AP AB AC] - btScalar 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 #ifdef BT_USE_DOUBLE_PRECISION -if (signd * signd < (btScalar(1e-8) * btScalar(1e-8))) + 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");// + // printf("affine dependent/degenerate\n");// return -1; } #endif #endif // Points on opposite sides if expression signs are opposite - return signp * signd < btScalar(0.); + return signp * signd < btScalar(0.); } - -bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult) +bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult) { btSubSimplexClosestResult tempResult; - // Start out assuming point inside all halfspaces, so closest to itself + // Start out assuming point inside all halfspaces, so closest to itself finalResult.m_closestPointOnSimplex = p; finalResult.m_usedVertices.reset(); - finalResult.m_usedVertices.usedVertexA = true; + finalResult.m_usedVertices.usedVertexA = true; finalResult.m_usedVertices.usedVertexB = true; finalResult.m_usedVertices.usedVertexC = true; finalResult.m_usedVertices.usedVertexD = true; - int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d); + int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d); int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b); - int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c); - int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a); - - if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0) - { - finalResult.m_degenerate = true; - return false; - } + int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c); + int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a); - if (!pointOutsideABC && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC) - { - return false; - } + if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0) + { + finalResult.m_degenerate = true; + return false; + } + if (!pointOutsideABC && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC) + { + return false; + } - btScalar bestSqDist = FLT_MAX; - // If point outside face abc then compute closest point on abc - if (pointOutsideABC) + btScalar bestSqDist = FLT_MAX; + // If point outside face abc then compute closest point on abc + if (pointOutsideABC) { - closestPtPointTriangle(p, a, b, c,tempResult); + closestPtPointTriangle(p, a, b, c, tempResult); btVector3 q = tempResult.m_closestPointOnSimplex; - - btScalar sqDist = (q - p).dot( q - p); - // Update best closest point if (squared) distance is less than current best - if (sqDist < bestSqDist) { + + btScalar sqDist = (q - p).dot(q - p); + // Update best closest point if (squared) distance is less than current best + if (sqDist < bestSqDist) + { bestSqDist = sqDist; finalResult.m_closestPointOnSimplex = q; //convert result bitmask! @@ -504,25 +481,22 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB; finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC; finalResult.setBarycentricCoordinates( - tempResult.m_barycentricCoords[VERTA], - tempResult.m_barycentricCoords[VERTB], - tempResult.m_barycentricCoords[VERTC], - 0 - ); - + tempResult.m_barycentricCoords[VERTA], + tempResult.m_barycentricCoords[VERTB], + tempResult.m_barycentricCoords[VERTC], + 0); } - } - + } // Repeat test for face acd - if (pointOutsideACD) + if (pointOutsideACD) { - closestPtPointTriangle(p, a, c, d,tempResult); + closestPtPointTriangle(p, a, c, d, tempResult); btVector3 q = tempResult.m_closestPointOnSimplex; //convert result bitmask! - btScalar sqDist = (q - p).dot( q - p); - if (sqDist < bestSqDist) + btScalar sqDist = (q - p).dot(q - p); + if (sqDist < bestSqDist) { bestSqDist = sqDist; finalResult.m_closestPointOnSimplex = q; @@ -532,52 +506,46 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB; finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC; finalResult.setBarycentricCoordinates( - tempResult.m_barycentricCoords[VERTA], - 0, - tempResult.m_barycentricCoords[VERTB], - tempResult.m_barycentricCoords[VERTC] - ); - + tempResult.m_barycentricCoords[VERTA], + 0, + tempResult.m_barycentricCoords[VERTB], + tempResult.m_barycentricCoords[VERTC]); } - } - // Repeat test for face adb + } + // Repeat test for face adb - if (pointOutsideADB) { - closestPtPointTriangle(p, a, d, b,tempResult); + closestPtPointTriangle(p, a, d, b, tempResult); btVector3 q = tempResult.m_closestPointOnSimplex; //convert result bitmask! - btScalar sqDist = (q - p).dot( q - p); - if (sqDist < bestSqDist) + 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.usedVertexB = tempResult.m_usedVertices.usedVertexC; - + finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB; finalResult.setBarycentricCoordinates( - tempResult.m_barycentricCoords[VERTA], - tempResult.m_barycentricCoords[VERTC], - 0, - tempResult.m_barycentricCoords[VERTB] - ); - + tempResult.m_barycentricCoords[VERTA], + tempResult.m_barycentricCoords[VERTC], + 0, + tempResult.m_barycentricCoords[VERTB]); } - } - // Repeat test for face bdc - + } + // Repeat test for face bdc if (pointOutsideBDC) { - closestPtPointTriangle(p, b, d, c,tempResult); + closestPtPointTriangle(p, b, d, c, tempResult); btVector3 q = tempResult.m_closestPointOnSimplex; //convert result bitmask! - btScalar sqDist = (q - p).dot( q - p); - if (sqDist < bestSqDist) + btScalar sqDist = (q - p).dot(q - p); + if (sqDist < bestSqDist) { bestSqDist = sqDist; finalResult.m_closestPointOnSimplex = q; @@ -588,25 +556,22 @@ bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB; finalResult.setBarycentricCoordinates( - 0, - tempResult.m_barycentricCoords[VERTA], - tempResult.m_barycentricCoords[VERTC], - tempResult.m_barycentricCoords[VERTB] - ); - + 0, + tempResult.m_barycentricCoords[VERTA], + tempResult.m_barycentricCoords[VERTC], + tempResult.m_barycentricCoords[VERTB]); } - } + } //help! we ended up full ! - + if (finalResult.m_usedVertices.usedVertexA && finalResult.m_usedVertices.usedVertexB && finalResult.m_usedVertices.usedVertexC && - finalResult.m_usedVertices.usedVertexD) + finalResult.m_usedVertices.usedVertexD) { return true; } - return true; + return true; } - |