diff options
author | Rémi Verschelde <rverschelde@gmail.com> | 2018-01-13 14:01:53 +0100 |
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committer | Rémi Verschelde <rverschelde@gmail.com> | 2018-01-13 14:08:45 +0100 |
commit | e12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (patch) | |
tree | af68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/src/LinearMath/btGrahamScan2dConvexHull.h | |
parent | 53c65ae7619ac9e80c89a321c70de64f3745e2aa (diff) |
bullet: Streamline bundling, remove extraneous src/ folder
Document version and how to extract sources in thirdparty/README.md.
Drop unnecessary CMake and Premake files.
Simplify SCsub, drop unused one.
Diffstat (limited to 'thirdparty/bullet/src/LinearMath/btGrahamScan2dConvexHull.h')
-rw-r--r-- | thirdparty/bullet/src/LinearMath/btGrahamScan2dConvexHull.h | 130 |
1 files changed, 0 insertions, 130 deletions
diff --git a/thirdparty/bullet/src/LinearMath/btGrahamScan2dConvexHull.h b/thirdparty/bullet/src/LinearMath/btGrahamScan2dConvexHull.h deleted file mode 100644 index 13a79aa585..0000000000 --- a/thirdparty/bullet/src/LinearMath/btGrahamScan2dConvexHull.h +++ /dev/null @@ -1,130 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2011 Advanced Micro Devices, Inc. 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. -*/ - - -#ifndef GRAHAM_SCAN_2D_CONVEX_HULL_H -#define GRAHAM_SCAN_2D_CONVEX_HULL_H - - -#include "btVector3.h" -#include "btAlignedObjectArray.h" - -struct GrahamVector3 : public btVector3 -{ - GrahamVector3(const btVector3& org, int orgIndex) - :btVector3(org), - m_orgIndex(orgIndex) - { - } - btScalar m_angle; - int m_orgIndex; -}; - - -struct btAngleCompareFunc { - btVector3 m_anchor; - btAngleCompareFunc(const btVector3& anchor) - : m_anchor(anchor) - { - } - bool operator()(const GrahamVector3& a, const GrahamVector3& b) const { - if (a.m_angle != b.m_angle) - return a.m_angle < b.m_angle; - else - { - btScalar al = (a-m_anchor).length2(); - btScalar bl = (b-m_anchor).length2(); - if (al != bl) - return al < bl; - else - { - return a.m_orgIndex < b.m_orgIndex; - } - } - } -}; - -inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& originalPoints, btAlignedObjectArray<GrahamVector3>& hull, const btVector3& normalAxis) -{ - btVector3 axis0,axis1; - btPlaneSpace1(normalAxis,axis0,axis1); - - - if (originalPoints.size()<=1) - { - for (int i=0;i<originalPoints.size();i++) - hull.push_back(originalPoints[0]); - return; - } - //step1 : find anchor point with smallest projection on axis0 and move it to first location - for (int i=0;i<originalPoints.size();i++) - { -// const btVector3& left = originalPoints[i]; -// const btVector3& right = originalPoints[0]; - btScalar projL = originalPoints[i].dot(axis0); - btScalar projR = originalPoints[0].dot(axis0); - if (projL < projR) - { - originalPoints.swap(0,i); - } - } - - //also precompute angles - originalPoints[0].m_angle = -1e30f; - for (int i=1;i<originalPoints.size();i++) - { - btVector3 ar = originalPoints[i]-originalPoints[0]; - btScalar ar1 = axis1.dot(ar); - btScalar ar0 = axis0.dot(ar); - if( ar1*ar1+ar0*ar0 < FLT_EPSILON ) - { - originalPoints[i].m_angle = 0.0f; - } - else - { - originalPoints[i].m_angle = btAtan2Fast(ar1, ar0); - } - } - - //step 2: sort all points, based on 'angle' with this anchor - btAngleCompareFunc comp(originalPoints[0]); - originalPoints.quickSortInternal(comp,1,originalPoints.size()-1); - - int i; - for (i = 0; i<2; i++) - hull.push_back(originalPoints[i]); - - //step 3: keep all 'convex' points and discard concave points (using back tracking) - for (; i != originalPoints.size(); i++) - { - bool isConvex = false; - while (!isConvex&& hull.size()>1) { - btVector3& a = hull[hull.size()-2]; - btVector3& b = hull[hull.size()-1]; - isConvex = btCross(a-b,a-originalPoints[i]).dot(normalAxis)> 0; - if (!isConvex) - hull.pop_back(); - else - hull.push_back(originalPoints[i]); - } - - if( hull.size() == 1 ) - { - hull.push_back( originalPoints[i] ); - } - } -} - -#endif //GRAHAM_SCAN_2D_CONVEX_HULL_H |