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path: root/extern/bullet2/src/LinearMath/btConvexHull.cpp
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Diffstat (limited to 'extern/bullet2/src/LinearMath/btConvexHull.cpp')
-rw-r--r--extern/bullet2/src/LinearMath/btConvexHull.cpp66
1 files changed, 33 insertions, 33 deletions
diff --git a/extern/bullet2/src/LinearMath/btConvexHull.cpp b/extern/bullet2/src/LinearMath/btConvexHull.cpp
index 419c752a1d9..532d76d881f 100644
--- a/extern/bullet2/src/LinearMath/btConvexHull.cpp
+++ b/extern/bullet2/src/LinearMath/btConvexHull.cpp
@@ -16,9 +16,9 @@ subject to the following restrictions:
#include <string.h>
#include "btConvexHull.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btVector3.h"
+#include "btAlignedObjectArray.h"
+#include "btMinMax.h"
+#include "btVector3.h"
@@ -96,21 +96,21 @@ btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const
// returns the point where the line p0-p1 intersects the plane n&d
static btVector3 dif;
dif = p1-p0;
- btScalar dn= dot(plane.normal,dif);
- btScalar t = -(plane.dist+dot(plane.normal,p0) )/dn;
+ btScalar dn= btDot(plane.normal,dif);
+ btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn;
return p0 + (dif*t);
}
btVector3 PlaneProject(const btPlane &plane, const btVector3 &point)
{
- return point - plane.normal * (dot(point,plane.normal)+plane.dist);
+ return point - plane.normal * (btDot(point,plane.normal)+plane.dist);
}
btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2)
{
// return the normal of the triangle
// inscribed by v0, v1, and v2
- btVector3 cp=cross(v1-v0,v2-v1);
+ btVector3 cp=btCross(v1-v0,v2-v1);
btScalar m=cp.length();
if(m==0) return btVector3(1,0,0);
return cp*(btScalar(1.0)/m);
@@ -120,23 +120,23 @@ btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v
btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint)
{
static btVector3 cp;
- cp = cross(udir,vdir).normalized();
+ cp = btCross(udir,vdir).normalized();
- btScalar distu = -dot(cp,ustart);
- btScalar distv = -dot(cp,vstart);
+ btScalar distu = -btDot(cp,ustart);
+ btScalar distv = -btDot(cp,vstart);
btScalar dist = (btScalar)fabs(distu-distv);
if(upoint)
{
btPlane plane;
- plane.normal = cross(vdir,cp).normalized();
- plane.dist = -dot(plane.normal,vstart);
+ plane.normal = btCross(vdir,cp).normalized();
+ plane.dist = -btDot(plane.normal,vstart);
*upoint = PlaneLineIntersection(plane,ustart,ustart+udir);
}
if(vpoint)
{
btPlane plane;
- plane.normal = cross(udir,cp).normalized();
- plane.dist = -dot(plane.normal,ustart);
+ plane.normal = btCross(udir,cp).normalized();
+ plane.dist = -btDot(plane.normal,ustart);
*vpoint = PlaneLineIntersection(plane,vstart,vstart+vdir);
}
return dist;
@@ -170,7 +170,7 @@ ConvexH::ConvexH(int vertices_size,int edges_size,int facets_size)
int PlaneTest(const btPlane &p, const btVector3 &v);
int PlaneTest(const btPlane &p, const btVector3 &v) {
- btScalar a = dot(v,p.normal)+p.dist;
+ btScalar a = btDot(v,p.normal)+p.dist;
int flag = (a>planetestepsilon)?OVER:((a<-planetestepsilon)?UNDER:COPLANAR);
return flag;
}
@@ -228,7 +228,7 @@ int maxdirfiltered(const T *p,int count,const T &dir,btAlignedObjectArray<int> &
for(int i=0;i<count;i++)
if(allow[i])
{
- if(m==-1 || dot(p[i],dir)>dot(p[m],dir))
+ if(m==-1 || btDot(p[i],dir)>btDot(p[m],dir))
m=i;
}
btAssert(m!=-1);
@@ -238,8 +238,8 @@ int maxdirfiltered(const T *p,int count,const T &dir,btAlignedObjectArray<int> &
btVector3 orth(const btVector3 &v);
btVector3 orth(const btVector3 &v)
{
- btVector3 a=cross(v,btVector3(0,0,1));
- btVector3 b=cross(v,btVector3(0,1,0));
+ btVector3 a=btCross(v,btVector3(0,0,1));
+ btVector3 b=btCross(v,btVector3(0,1,0));
if (a.length() > b.length())
{
return a.normalized();
@@ -258,7 +258,7 @@ int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray<int> &al
m = maxdirfiltered(p,count,dir,allow);
if(allow[m]==3) return m;
T u = orth(dir);
- T v = cross(u,dir);
+ T v = btCross(u,dir);
int ma=-1;
for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0))
{
@@ -313,7 +313,7 @@ int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilo
int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon)
{
btVector3 n=TriNormal(vertices[t[0]],vertices[t[1]],vertices[t[2]]);
- return (dot(n,p-vertices[t[0]]) > epsilon); // EPSILON???
+ return (btDot(n,p-vertices[t[0]]) > epsilon); // EPSILON???
}
int hasedge(const int3 &t, int a,int b);
int hasedge(const int3 &t, int a,int b)
@@ -495,8 +495,8 @@ int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectAr
basis[0] = verts[p0]-verts[p1];
if(p0==p1 || basis[0]==btVector3(0,0,0))
return int4(-1,-1,-1,-1);
- basis[1] = cross(btVector3( btScalar(1),btScalar(0.02), btScalar(0)),basis[0]);
- basis[2] = cross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)),basis[0]);
+ basis[1] = btCross(btVector3( btScalar(1),btScalar(0.02), btScalar(0)),basis[0]);
+ basis[2] = btCross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)),basis[0]);
if (basis[1].length() > basis[2].length())
{
basis[1].normalize();
@@ -512,13 +512,13 @@ int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectAr
if(p2 == p0 || p2 == p1)
return int4(-1,-1,-1,-1);
basis[1] = verts[p2] - verts[p0];
- basis[2] = cross(basis[1],basis[0]).normalized();
+ basis[2] = btCross(basis[1],basis[0]).normalized();
int p3 = maxdirsterid(verts,verts_count,basis[2],allow);
if(p3==p0||p3==p1||p3==p2) p3 = maxdirsterid(verts,verts_count,-basis[2],allow);
if(p3==p0||p3==p1||p3==p2)
return int4(-1,-1,-1,-1);
btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3));
- if(dot(verts[p3]-verts[p0],cross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
+ if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
return int4(p0,p1,p2,p3);
}
@@ -564,7 +564,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
btAssert(t->vmax<0);
btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
t->vmax = maxdirsterid(verts,verts_count,n,allow);
- t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
+ t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
}
btHullTriangle *te;
vlimit-=4;
@@ -592,7 +592,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
if(!m_tris[j]) continue;
if(!hasvert(*m_tris[j],v)) break;
int3 nt=*m_tris[j];
- if(above(verts,nt,center,btScalar(0.01)*epsilon) || cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
+ if(above(verts,nt,center,btScalar(0.01)*epsilon) || btCross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
{
btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->id<j);
@@ -614,7 +614,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
}
else
{
- t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
+ t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
}
}
vlimit --;
@@ -876,7 +876,7 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
vcount = 0;
- btScalar recip[3];
+ btScalar recip[3]={0.f,0.f,0.f};
if ( scale )
{
@@ -1011,9 +1011,9 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
btScalar y = v[1];
btScalar z = v[2];
- btScalar dx = fabsf(x - px );
- btScalar dy = fabsf(y - py );
- btScalar dz = fabsf(z - pz );
+ btScalar dx = btFabs(x - px );
+ btScalar dy = btFabs(y - py );
+ btScalar dz = btFabs(z - pz );
if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon )
{
@@ -1135,7 +1135,7 @@ void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, b
ocount = 0;
- for (i=0; i<indexcount; i++)
+ for (i=0; i<int (indexcount); i++)
{
unsigned int v = indices[i]; // original array index
@@ -1156,7 +1156,7 @@ void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, b
for (int k=0;k<m_vertexIndexMapping.size();k++)
{
- if (tmpIndices[k]==v)
+ if (tmpIndices[k]==int(v))
m_vertexIndexMapping[k]=ocount;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-27 15:35:56 +0300