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author | RĂ©mi Verschelde <rverschelde@gmail.com> | 2018-01-13 14:43:30 +0100 |
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committer | GitHub <noreply@github.com> | 2018-01-13 14:43:30 +0100 |
commit | a3ee252993e8200c856be3fe664937f9461ee268 (patch) | |
tree | af68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp | |
parent | c01575b3125ce1828f0cacb3f9f00286136f373c (diff) | |
parent | e12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (diff) |
Merge pull request #15664 from akien-mga/thirdparty
Bugfix updates to various thirdparty libraries
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp')
-rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp | 262 |
1 files changed, 262 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp new file mode 100644 index 0000000000..a7a9598406 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -0,0 +1,262 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + +#include "btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btSerializer.h" +#include "btConvexPolyhedron.h" +#include "LinearMath/btConvexHullComputer.h" + +btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape () +{ + m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE; + m_unscaledPoints.resize(numPoints); + + unsigned char* pointsAddress = (unsigned char*)points; + + for (int i=0;i<numPoints;i++) + { + btScalar* point = (btScalar*)pointsAddress; + m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]); + pointsAddress += stride; + } + + recalcLocalAabb(); + +} + + + +void btConvexHullShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; + recalcLocalAabb(); +} + +void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAabb) +{ + m_unscaledPoints.push_back(point); + if (recalculateLocalAabb) + recalcLocalAabb(); + +} + +btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); + btScalar maxDot = btScalar(-BT_LARGE_FLOAT); + + // Here we take advantage of dot(a, b*c) = dot(a*b, c). Note: This is true mathematically, but not numerically. + if( 0 < m_unscaledPoints.size() ) + { + btVector3 scaled = vec * m_localScaling; + int index = (int) scaled.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints + return m_unscaledPoints[index] * m_localScaling; + } + + return supVec; +} + +void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + btScalar newDot; + //use 'w' component of supportVerticesOut? + { + for (int i=0;i<numVectors;i++) + { + supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT); + } + } + + for (int j=0;j<numVectors;j++) + { + btVector3 vec = vectors[j] * m_localScaling; // dot(a*b,c) = dot(a,b*c) + if( 0 < m_unscaledPoints.size() ) + { + int i = (int) vec.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), newDot); + supportVerticesOut[j] = getScaledPoint(i); + supportVerticesOut[j][3] = newDot; + } + else + supportVerticesOut[j][3] = -BT_LARGE_FLOAT; + } + + + +} + + + +btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const +{ + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; +} + + +void btConvexHullShape::optimizeConvexHull() +{ + btConvexHullComputer conv; + conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3),m_unscaledPoints.size(),0.f,0.f); + int numVerts = conv.vertices.size(); + m_unscaledPoints.resize(0); + for (int i=0;i<numVerts;i++) + { + m_unscaledPoints.push_back(conv.vertices[i]); + } +} + + + +//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection +//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo +int btConvexHullShape::getNumVertices() const +{ + return m_unscaledPoints.size(); +} + +int btConvexHullShape::getNumEdges() const +{ + return m_unscaledPoints.size(); +} + +void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const +{ + + int index0 = i%m_unscaledPoints.size(); + int index1 = (i+1)%m_unscaledPoints.size(); + pa = getScaledPoint(index0); + pb = getScaledPoint(index1); +} + +void btConvexHullShape::getVertex(int i,btVector3& vtx) const +{ + vtx = getScaledPoint(i); +} + +int btConvexHullShape::getNumPlanes() const +{ + return 0; +} + +void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const +{ + + btAssert(0); +} + +//not yet +bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const +{ + btAssert(0); + return false; +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + //int szc = sizeof(btConvexHullShapeData); + btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer; + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); + + int numElem = m_unscaledPoints.size(); + shapeData->m_numUnscaledPoints = numElem; +#ifdef BT_USE_DOUBLE_PRECISION + shapeData->m_unscaledPointsFloatPtr = 0; + shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; +#else + shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; + shapeData->m_unscaledPointsDoublePtr = 0; +#endif + + if (numElem) + { + int sz = sizeof(btVector3Data); + // int sz2 = sizeof(btVector3DoubleData); + // int sz3 = sizeof(btVector3FloatData); + btChunk* chunk = serializer->allocate(sz,numElem); + btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr; + for (int i=0;i<numElem;i++,memPtr++) + { + m_unscaledPoints[i].serialize(*memPtr); + } + serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]); + } + + // Fill padding with zeros to appease msan. + memset(shapeData->m_padding3, 0, sizeof(shapeData->m_padding3)); + + return "btConvexHullShapeData"; +} + +void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const +{ +#if 1 + minProj = FLT_MAX; + maxProj = -FLT_MAX; + + int numVerts = m_unscaledPoints.size(); + for(int i=0;i<numVerts;i++) + { + btVector3 vtx = m_unscaledPoints[i] * m_localScaling; + btVector3 pt = trans * vtx; + btScalar dp = pt.dot(dir); + if(dp < minProj) + { + minProj = dp; + witnesPtMin = pt; + } + if(dp > maxProj) + { + maxProj = dp; + witnesPtMax=pt; + } + } +#else + btVector3 localAxis = dir*trans.getBasis(); + witnesPtMin = trans(localGetSupportingVertex(localAxis)); + witnesPtMax = trans(localGetSupportingVertex(-localAxis)); + + minProj = witnesPtMin.dot(dir); + maxProj = witnesPtMax.dot(dir); +#endif + + if(minProj>maxProj) + { + btSwap(minProj,maxProj); + btSwap(witnesPtMin,witnesPtMax); + } + + +} + + |