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authorAndreaCatania <info@andreacatania.com>2017-08-01 14:30:58 +0200
committerAndreaCatania <info@andreacatania.com>2017-11-04 20:08:26 +0100
commited047261f06f814eeb88a1f6ee2dd8abd7a14034 (patch)
tree3addbdbfa8ca5068226a644a0dbbbee0ed691303 /thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
parent3cbcf5c2ddadf1cd630137d6bd438634b8517b00 (diff)
Vendor thirdparty Bullet source for upcoming physics server backend
Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h')
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diff --git a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+
+
+#ifndef BT_VORONOI_SIMPLEX_SOLVER_H
+#define BT_VORONOI_SIMPLEX_SOLVER_H
+
+#include "btSimplexSolverInterface.h"
+
+
+
+#define VORONOI_SIMPLEX_MAX_VERTS 5
+
+///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
+#define BT_USE_EQUAL_VERTEX_THRESHOLD
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f
+#else
+#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
+#endif//BT_USE_DOUBLE_PRECISION
+
+struct btUsageBitfield{
+ btUsageBitfield()
+ {
+ reset();
+ }
+
+ void reset()
+ {
+ usedVertexA = false;
+ usedVertexB = false;
+ usedVertexC = false;
+ usedVertexD = false;
+ }
+ unsigned short usedVertexA : 1;
+ unsigned short usedVertexB : 1;
+ unsigned short usedVertexC : 1;
+ unsigned short usedVertexD : 1;
+ unsigned short unused1 : 1;
+ unsigned short unused2 : 1;
+ unsigned short unused3 : 1;
+ unsigned short unused4 : 1;
+};
+
+
+struct btSubSimplexClosestResult
+{
+ btVector3 m_closestPointOnSimplex;
+ //MASK for m_usedVertices
+ //stores the simplex vertex-usage, using the MASK,
+ // if m_usedVertices & MASK then the related vertex is used
+ btUsageBitfield m_usedVertices;
+ btScalar m_barycentricCoords[4];
+ bool m_degenerate;
+
+ void reset()
+ {
+ m_degenerate = false;
+ setBarycentricCoordinates();
+ m_usedVertices.reset();
+ }
+ bool isValid()
+ {
+ bool valid = (m_barycentricCoords[0] >= btScalar(0.)) &&
+ (m_barycentricCoords[1] >= btScalar(0.)) &&
+ (m_barycentricCoords[2] >= btScalar(0.)) &&
+ (m_barycentricCoords[3] >= btScalar(0.));
+
+
+ return valid;
+ }
+ void setBarycentricCoordinates(btScalar a=btScalar(0.),btScalar b=btScalar(0.),btScalar c=btScalar(0.),btScalar d=btScalar(0.))
+ {
+ m_barycentricCoords[0] = a;
+ m_barycentricCoords[1] = b;
+ m_barycentricCoords[2] = c;
+ m_barycentricCoords[3] = d;
+ }
+
+};
+
+/// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
+/// Can be used with GJK, as an alternative to Johnson distance algorithm.
+#ifdef NO_VIRTUAL_INTERFACE
+ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver
+#else
+ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver : public btSimplexSolverInterface
+#endif
+{
+public:
+
+ BT_DECLARE_ALIGNED_ALLOCATOR();
+
+ int m_numVertices;
+
+ btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
+ btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
+ btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
+
+
+
+ btVector3 m_cachedP1;
+ btVector3 m_cachedP2;
+ btVector3 m_cachedV;
+ btVector3 m_lastW;
+
+ btScalar m_equalVertexThreshold;
+ bool m_cachedValidClosest;
+
+
+ btSubSimplexClosestResult m_cachedBC;
+
+ bool m_needsUpdate;
+
+ void removeVertex(int index);
+ void reduceVertices (const btUsageBitfield& usedVerts);
+ bool updateClosestVectorAndPoints();
+
+ bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult);
+ int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);
+ bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result);
+
+public:
+
+ btVoronoiSimplexSolver()
+ : m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
+ {
+ }
+ void reset();
+
+ void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
+
+ void setEqualVertexThreshold(btScalar threshold)
+ {
+ m_equalVertexThreshold = threshold;
+ }
+
+ btScalar getEqualVertexThreshold() const
+ {
+ return m_equalVertexThreshold;
+ }
+
+ bool closest(btVector3& v);
+
+ btScalar maxVertex();
+
+ bool fullSimplex() const
+ {
+ return (m_numVertices == 4);
+ }
+
+ int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const;
+
+ bool inSimplex(const btVector3& w);
+
+ void backup_closest(btVector3& v) ;
+
+ bool emptySimplex() const ;
+
+ void compute_points(btVector3& p1, btVector3& p2) ;
+
+ int numVertices() const
+ {
+ return m_numVertices;
+ }
+
+
+};
+
+#endif //BT_VORONOI_SIMPLEX_SOLVER_H
+