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-rw-r--r--thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h149
1 files changed, 70 insertions, 79 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
index 332dbc278c..b4981ae654 100644
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
+++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
@@ -1,28 +1,27 @@
#ifndef B3_FIND_SEPARATING_AXIS_H
#define B3_FIND_SEPARATING_AXIS_H
-
-inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull, const b3Float4& pos, const b3Quaternion& orn, const b3Float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
+inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull, const b3Float4& pos, const b3Quaternion& orn, const b3Float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
{
min = FLT_MAX;
max = -FLT_MAX;
int numVerts = hull.m_numVertices;
- const b3Float4 localDir = b3QuatRotate(orn.inverse(),dir);
+ const b3Float4 localDir = b3QuatRotate(orn.inverse(), dir);
- b3Scalar offset = b3Dot3F4(pos,dir);
+ b3Scalar offset = b3Dot3F4(pos, dir);
- for(int i=0;i<numVerts;i++)
+ for (int i = 0; i < numVerts; i++)
{
//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
//b3Scalar dp = pt.dot(dir);
//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
- b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset+i],localDir);
+ b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset + i], localDir);
//b3Assert(dp==dpL);
- if(dp < min) min = dp;
- if(dp > max) max = dp;
+ if (dp < min) min = dp;
+ if (dp > max) max = dp;
}
- if(min>max)
+ if (min > max)
{
b3Scalar tmp = min;
min = max;
@@ -32,44 +31,42 @@ inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull, const b3Float4& p
max += offset;
}
-
-inline bool b3TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
- const b3Float4& posA,const b3Quaternion& ornA,
- const b3Float4& posB,const b3Quaternion& ornB,
- const b3Float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA,const b3AlignedObjectArray<b3Vector3>& verticesB,b3Scalar& depth)
+inline bool b3TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
+ const b3Float4& posA, const b3Quaternion& ornA,
+ const b3Float4& posB, const b3Quaternion& ornB,
+ const b3Float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB, b3Scalar& depth)
{
- b3Scalar Min0,Max0;
- b3Scalar Min1,Max1;
- b3ProjectAxis(hullA,posA,ornA,sep_axis,verticesA, Min0, Max0);
- b3ProjectAxis(hullB,posB,ornB, sep_axis,verticesB, Min1, Max1);
+ b3Scalar Min0, Max0;
+ b3Scalar Min1, Max1;
+ b3ProjectAxis(hullA, posA, ornA, sep_axis, verticesA, Min0, Max0);
+ b3ProjectAxis(hullB, posB, ornB, sep_axis, verticesB, Min1, Max1);
- if(Max0<Min1 || Max1<Min0)
+ if (Max0 < Min1 || Max1 < Min0)
return false;
b3Scalar d0 = Max0 - Min1;
- b3Assert(d0>=0.0f);
+ b3Assert(d0 >= 0.0f);
b3Scalar d1 = Max1 - Min0;
- b3Assert(d1>=0.0f);
- depth = d0<d1 ? d0:d1;
+ b3Assert(d1 >= 0.0f);
+ depth = d0 < d1 ? d0 : d1;
return true;
}
-
-inline bool b3FindSeparatingAxis( const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
- const b3Float4& posA1,
- const b3Quaternion& ornA,
- const b3Float4& posB1,
- const b3Quaternion& ornB,
- const b3AlignedObjectArray<b3Vector3>& verticesA,
- const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
- const b3AlignedObjectArray<b3GpuFace>& facesA,
- const b3AlignedObjectArray<int>& indicesA,
- const b3AlignedObjectArray<b3Vector3>& verticesB,
- const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
- const b3AlignedObjectArray<b3GpuFace>& facesB,
- const b3AlignedObjectArray<int>& indicesB,
-
- b3Vector3& sep)
+inline bool b3FindSeparatingAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
+ const b3Float4& posA1,
+ const b3Quaternion& ornA,
+ const b3Float4& posB1,
+ const b3Quaternion& ornB,
+ const b3AlignedObjectArray<b3Vector3>& verticesA,
+ const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
+ const b3AlignedObjectArray<b3GpuFace>& facesA,
+ const b3AlignedObjectArray<int>& indicesA,
+ const b3AlignedObjectArray<b3Vector3>& verticesB,
+ const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
+ const b3AlignedObjectArray<b3GpuFace>& facesB,
+ const b3AlignedObjectArray<int>& indicesB,
+
+ b3Vector3& sep)
{
B3_PROFILE("findSeparatingAxis");
@@ -77,42 +74,41 @@ inline bool b3FindSeparatingAxis( const b3ConvexPolyhedronData& hullA, const b3C
posA.w = 0.f;
b3Float4 posB = posB1;
posB.w = 0.f;
-//#ifdef TEST_INTERNAL_OBJECTS
+ //#ifdef TEST_INTERNAL_OBJECTS
b3Float4 c0local = (b3Float4&)hullA.m_localCenter;
b3Float4 c0 = b3TransformPoint(c0local, posA, ornA);
b3Float4 c1local = (b3Float4&)hullB.m_localCenter;
- b3Float4 c1 = b3TransformPoint(c1local,posB,ornB);
+ b3Float4 c1 = b3TransformPoint(c1local, posB, ornB);
const b3Float4 deltaC2 = c0 - c1;
-//#endif
+ //#endif
b3Scalar dmin = FLT_MAX;
- int curPlaneTests=0;
+ int curPlaneTests = 0;
int numFacesA = hullA.m_numFaces;
// Test normals from hullA
- for(int i=0;i<numFacesA;i++)
+ for (int i = 0; i < numFacesA; i++)
{
- const b3Float4& normal = (b3Float4&)facesA[hullA.m_faceOffset+i].m_plane;
- b3Float4 faceANormalWS = b3QuatRotate(ornA,normal);
+ const b3Float4& normal = (b3Float4&)facesA[hullA.m_faceOffset + i].m_plane;
+ b3Float4 faceANormalWS = b3QuatRotate(ornA, normal);
- if (b3Dot3F4(deltaC2,faceANormalWS)<0)
- faceANormalWS*=-1.f;
+ if (b3Dot3F4(deltaC2, faceANormalWS) < 0)
+ faceANormalWS *= -1.f;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
- if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
+ if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
-
b3Scalar d;
- if(!b3TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,faceANormalWS, verticesA, verticesB,d))
+ if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, faceANormalWS, verticesA, verticesB, d))
return false;
- if(d<dmin)
+ if (d < dmin)
{
dmin = d;
sep = (b3Vector3&)faceANormalWS;
@@ -121,86 +117,81 @@ inline bool b3FindSeparatingAxis( const b3ConvexPolyhedronData& hullA, const b3C
int numFacesB = hullB.m_numFaces;
// Test normals from hullB
- for(int i=0;i<numFacesB;i++)
+ for (int i = 0; i < numFacesB; i++)
{
- b3Float4 normal = (b3Float4&)facesB[hullB.m_faceOffset+i].m_plane;
+ b3Float4 normal = (b3Float4&)facesB[hullB.m_faceOffset + i].m_plane;
b3Float4 WorldNormal = b3QuatRotate(ornB, normal);
- if (b3Dot3F4(deltaC2,WorldNormal)<0)
+ if (b3Dot3F4(deltaC2, WorldNormal) < 0)
{
- WorldNormal*=-1.f;
+ WorldNormal *= -1.f;
}
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
- if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
+ if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
b3Scalar d;
- if(!b3TestSepAxis(hullA, hullB,posA,ornA,posB,ornB,WorldNormal,verticesA,verticesB,d))
+ if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, WorldNormal, verticesA, verticesB, d))
return false;
- if(d<dmin)
+ if (d < dmin)
{
dmin = d;
sep = (b3Vector3&)WorldNormal;
}
}
-// b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
+ // b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
int curEdgeEdge = 0;
// Test edges
- for(int e0=0;e0<hullA.m_numUniqueEdges;e0++)
+ for (int e0 = 0; e0 < hullA.m_numUniqueEdges; e0++)
{
- const b3Float4& edge0 = (b3Float4&) uniqueEdgesA[hullA.m_uniqueEdgesOffset+e0];
- b3Float4 edge0World = b3QuatRotate(ornA,(b3Float4&)edge0);
+ const b3Float4& edge0 = (b3Float4&)uniqueEdgesA[hullA.m_uniqueEdgesOffset + e0];
+ b3Float4 edge0World = b3QuatRotate(ornA, (b3Float4&)edge0);
- for(int e1=0;e1<hullB.m_numUniqueEdges;e1++)
+ for (int e1 = 0; e1 < hullB.m_numUniqueEdges; e1++)
{
- const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset+e1];
- b3Float4 edge1World = b3QuatRotate(ornB,(b3Float4&)edge1);
-
+ const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset + e1];
+ b3Float4 edge1World = b3QuatRotate(ornB, (b3Float4&)edge1);
- b3Float4 crossje = b3Cross3(edge0World,edge1World);
+ b3Float4 crossje = b3Cross3(edge0World, edge1World);
curEdgeEdge++;
- if(!b3IsAlmostZero((b3Vector3&)crossje))
+ if (!b3IsAlmostZero((b3Vector3&)crossje))
{
crossje = b3FastNormalized3(crossje);
- if (b3Dot3F4(deltaC2,crossje)<0)
- crossje*=-1.f;
-
+ if (b3Dot3F4(deltaC2, crossje) < 0)
+ crossje *= -1.f;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
- if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
+ if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
b3Scalar dist;
- if(!b3TestSepAxis( hullA, hullB, posA,ornA,posB,ornB,crossje, verticesA,verticesB,dist))
+ if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, crossje, verticesA, verticesB, dist))
return false;
- if(dist<dmin)
+ if (dist < dmin)
{
dmin = dist;
sep = (b3Vector3&)crossje;
}
}
}
-
}
-
- if((b3Dot3F4(-deltaC2,(b3Float4&)sep))>0.0f)
+ if ((b3Dot3F4(-deltaC2, (b3Float4&)sep)) > 0.0f)
sep = -sep;
return true;
}
-#endif //B3_FIND_SEPARATING_AXIS_H
-
+#endif //B3_FIND_SEPARATING_AXIS_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-08 01:15:15 +0000