diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btGeometryUtil.cpp')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btGeometryUtil.cpp | 45 |
1 files changed, 27 insertions, 18 deletions
diff --git a/extern/bullet2/src/LinearMath/btGeometryUtil.cpp b/extern/bullet2/src/LinearMath/btGeometryUtil.cpp index 5036894b2b3..3d0fb122a6b 100644 --- a/extern/bullet2/src/LinearMath/btGeometryUtil.cpp +++ b/extern/bullet2/src/LinearMath/btGeometryUtil.cpp @@ -16,14 +16,23 @@ subject to the following restrictions: #include "btGeometryUtil.h" -bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, float margin) + +/* + Make sure this dummy function never changes so that it + can be used by probes that are checking whether the + library is actually installed. +*/ +extern "C" void btBulletMathProbe () {} + + +bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin) { int numbrushes = planeEquations.size(); for (int i=0;i<numbrushes;i++) { const btVector3& N1 = planeEquations[i]; - float dist = float(N1.dot(point))+float(N1[3])-margin; - if (dist>0.f) + btScalar dist = btScalar(N1.dot(point))+btScalar(N1[3])-margin; + if (dist>btScalar(0.)) { return false; } @@ -33,14 +42,14 @@ bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& } -bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, float margin) +bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin) { int numvertices = vertices.size(); for (int i=0;i<numvertices;i++) { const btVector3& N1 = vertices[i]; - float dist = float(planeNormal.dot(N1))+float(planeNormal[3])-margin; - if (dist>0.f) + btScalar dist = btScalar(planeNormal.dot(N1))+btScalar(planeNormal[3])-margin; + if (dist>btScalar(0.)) { return false; } @@ -54,7 +63,7 @@ bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector for (int i=0;i<numbrushes;i++) { const btVector3& N1 = planeEquations[i]; - if (planeEquation.dot(N1) > 0.999f) + if (planeEquation.dot(N1) > btScalar(0.999)) { return false; } @@ -83,11 +92,11 @@ void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector btVector3 planeEquation,edge0,edge1; edge0 = N2-N1; edge1 = N3-N1; - float normalSign = 1.f; + btScalar normalSign = btScalar(1.); for (int ww=0;ww<2;ww++) { planeEquation = normalSign * edge0.cross(edge1); - if (planeEquation.length2() > 0.0001f) + if (planeEquation.length2() > btScalar(0.0001)) { planeEquation.normalize(); if (notExist(planeEquation,planeEquationsOut)) @@ -95,13 +104,13 @@ void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector planeEquation[3] = -planeEquation.dot(N1); //check if inside, and replace supportingVertexOut if needed - if (areVerticesBehindPlane(planeEquation,vertices,0.01f)) + if (areVerticesBehindPlane(planeEquation,vertices,btScalar(0.01))) { planeEquationsOut.push_back(planeEquation); } } } - normalSign = -1.f; + normalSign = btScalar(-1.); } } @@ -132,9 +141,9 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt btVector3 n3n1; n3n1 = N3.cross(N1); btVector3 n1n2; n1n2 = N1.cross(N2); - if ( ( n2n3.length2() > 0.0001f ) && - ( n3n1.length2() > 0.0001f ) && - ( n1n2.length2() > 0.0001f ) ) + if ( ( n2n3.length2() > btScalar(0.0001) ) && + ( n3n1.length2() > btScalar(0.0001) ) && + ( n1n2.length2() > btScalar(0.0001) ) ) { //point P out of 3 plane equations: @@ -143,10 +152,10 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt // N1 . ( N2 * N3 ) - float quotient = (N1.dot(n2n3)); - if (btFabs(quotient) > 0.000001f) + btScalar quotient = (N1.dot(n2n3)); + if (btFabs(quotient) > btScalar(0.000001)) { - quotient = -1.f / quotient; + quotient = btScalar(-1.) / quotient; n2n3 *= N1[3]; n3n1 *= N2[3]; n1n2 *= N3[3]; @@ -156,7 +165,7 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt potentialVertex *= quotient; //check if inside, and replace supportingVertexOut if needed - if (isPointInsidePlanes(planeEquations,potentialVertex,0.01f)) + if (isPointInsidePlanes(planeEquations,potentialVertex,btScalar(0.01))) { verticesOut.push_back(potentialVertex); } |