diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Geometry')
| -rw-r--r-- | thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h | 217 | ||||
| -rw-r--r-- | thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp | 2745 | ||||
| -rw-r--r-- | thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h | 99 | ||||
| -rw-r--r-- | thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp | 174 | ||||
| -rw-r--r-- | thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h | 36 | ||||
| -rw-r--r-- | thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h | 116 |
6 files changed, 0 insertions, 3387 deletions
diff --git a/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h b/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h deleted file mode 100644 index 396a401450..0000000000 --- a/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h +++ /dev/null @@ -1,217 +0,0 @@ -/* -Copyright (c) 2003-2006 Gino van den Bergen / 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 B3_AABB_UTIL2 -#define B3_AABB_UTIL2 - -#include "Bullet3Common/b3Transform.h" -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Common/b3MinMax.h" - -B3_FORCE_INLINE void b3AabbExpand(b3Vector3& aabbMin, - b3Vector3& aabbMax, - const b3Vector3& expansionMin, - const b3Vector3& expansionMax) -{ - aabbMin = aabbMin + expansionMin; - aabbMax = aabbMax + expansionMax; -} - -/// conservative test for overlap between two aabbs -B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1, - const b3Vector3& point) -{ - bool overlap = true; - overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap; - overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap; - overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap; - return overlap; -} - -/// conservative test for overlap between two aabbs -B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1, - const b3Vector3& aabbMin2, const b3Vector3& aabbMax2) -{ - bool overlap = true; - overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap; - overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap; - overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap; - return overlap; -} - -/// conservative test for overlap between triangle and aabb -B3_FORCE_INLINE bool b3TestTriangleAgainstAabb2(const b3Vector3* vertices, - const b3Vector3& aabbMin, const b3Vector3& aabbMax) -{ - const b3Vector3& p1 = vertices[0]; - const b3Vector3& p2 = vertices[1]; - const b3Vector3& p3 = vertices[2]; - - if (b3Min(b3Min(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false; - if (b3Max(b3Max(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false; - - if (b3Min(b3Min(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false; - if (b3Max(b3Max(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false; - - if (b3Min(b3Min(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false; - if (b3Max(b3Max(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false; - return true; -} - -B3_FORCE_INLINE int b3Outcode(const b3Vector3& p, const b3Vector3& halfExtent) -{ - return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) | - (p.getX() > halfExtent.getX() ? 0x08 : 0x0) | - (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) | - (p.getY() > halfExtent.getY() ? 0x10 : 0x0) | - (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) | - (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0); -} - -B3_FORCE_INLINE bool b3RayAabb2(const b3Vector3& rayFrom, - const b3Vector3& rayInvDirection, - const unsigned int raySign[3], - const b3Vector3 bounds[2], - b3Scalar& tmin, - b3Scalar lambda_min, - b3Scalar lambda_max) -{ - b3Scalar tmax, tymin, tymax, tzmin, tzmax; - tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); - tmax = (bounds[1 - raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); - tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); - tymax = (bounds[1 - raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); - - if ((tmin > tymax) || (tymin > tmax)) - return false; - - if (tymin > tmin) - tmin = tymin; - - if (tymax < tmax) - tmax = tymax; - - tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); - tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); - - if ((tmin > tzmax) || (tzmin > tmax)) - return false; - if (tzmin > tmin) - tmin = tzmin; - if (tzmax < tmax) - tmax = tzmax; - return ((tmin < lambda_max) && (tmax > lambda_min)); -} - -B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom, - const b3Vector3& rayTo, - const b3Vector3& aabbMin, - const b3Vector3& aabbMax, - b3Scalar& param, b3Vector3& normal) -{ - b3Vector3 aabbHalfExtent = (aabbMax - aabbMin) * b3Scalar(0.5); - b3Vector3 aabbCenter = (aabbMax + aabbMin) * b3Scalar(0.5); - b3Vector3 source = rayFrom - aabbCenter; - b3Vector3 target = rayTo - aabbCenter; - int sourceOutcode = b3Outcode(source, aabbHalfExtent); - int targetOutcode = b3Outcode(target, aabbHalfExtent); - if ((sourceOutcode & targetOutcode) == 0x0) - { - b3Scalar lambda_enter = b3Scalar(0.0); - b3Scalar lambda_exit = param; - b3Vector3 r = target - source; - int i; - b3Scalar normSign = 1; - b3Vector3 hitNormal = b3MakeVector3(0, 0, 0); - int bit = 1; - - for (int j = 0; j < 2; j++) - { - for (i = 0; i != 3; ++i) - { - if (sourceOutcode & bit) - { - b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i]; - if (lambda_enter <= lambda) - { - lambda_enter = lambda; - hitNormal.setValue(0, 0, 0); - hitNormal[i] = normSign; - } - } - else if (targetOutcode & bit) - { - b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i]; - b3SetMin(lambda_exit, lambda); - } - bit <<= 1; - } - normSign = b3Scalar(-1.); - } - if (lambda_enter <= lambda_exit) - { - param = lambda_enter; - normal = hitNormal; - return true; - } - } - return false; -} - -B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin, const b3Transform& t, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut) -{ - b3Vector3 halfExtentsWithMargin = halfExtents + b3MakeVector3(margin, margin, margin); - b3Matrix3x3 abs_b = t.getBasis().absolute(); - b3Vector3 center = t.getOrigin(); - b3Vector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]); - aabbMinOut = center - extent; - aabbMaxOut = center + extent; -} - -B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& localAabbMin, const b3Vector3& localAabbMax, b3Scalar margin, const b3Transform& trans, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut) -{ - //b3Assert(localAabbMin.getX() <= localAabbMax.getX()); - //b3Assert(localAabbMin.getY() <= localAabbMax.getY()); - //b3Assert(localAabbMin.getZ() <= localAabbMax.getZ()); - b3Vector3 localHalfExtents = b3Scalar(0.5) * (localAabbMax - localAabbMin); - localHalfExtents += b3MakeVector3(margin, margin, margin); - - b3Vector3 localCenter = b3Scalar(0.5) * (localAabbMax + localAabbMin); - b3Matrix3x3 abs_b = trans.getBasis().absolute(); - b3Vector3 center = trans(localCenter); - b3Vector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); - aabbMinOut = center - extent; - aabbMaxOut = center + extent; -} - -#define B3_USE_BANCHLESS 1 -#ifdef B3_USE_BANCHLESS -//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360) -B3_FORCE_INLINE unsigned b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2) -{ - return static_cast<unsigned int>(b3Select((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])), - 1, 0)); -} -#else -B3_FORCE_INLINE bool b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2) -{ - bool overlap = true; - overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap; - overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap; - overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap; - return overlap; -} -#endif //B3_USE_BANCHLESS - -#endif //B3_AABB_UTIL2 diff --git a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp b/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp deleted file mode 100644 index b37652456e..0000000000 --- a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.cpp +++ /dev/null @@ -1,2745 +0,0 @@ -/* -Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net - -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. -*/ - -#include <string.h> - -#include "b3ConvexHullComputer.h" -#include "Bullet3Common/b3AlignedObjectArray.h" -#include "Bullet3Common/b3MinMax.h" -#include "Bullet3Common/b3Vector3.h" - -#ifdef __GNUC__ -#include <stdint.h> -typedef int32_t btInt32_t; -typedef int64_t btInt64_t; -typedef uint32_t btUint32_t; -typedef uint64_t btUint64_t; -#elif defined(_MSC_VER) -typedef __int32 btInt32_t; -typedef __int64 btInt64_t; -typedef unsigned __int32 btUint32_t; -typedef unsigned __int64 btUint64_t; -#else -typedef int btInt32_t; -typedef long long int btInt64_t; -typedef unsigned int btUint32_t; -typedef unsigned long long int btUint64_t; -#endif - -//The definition of USE_X86_64_ASM is moved into the build system. You can enable it manually by commenting out the following lines -//#if (defined(__GNUC__) && defined(__x86_64__) && !defined(__ICL)) // || (defined(__ICL) && defined(_M_X64)) bug in Intel compiler, disable inline assembly -// #define USE_X86_64_ASM -//#endif - -//#define DEBUG_CONVEX_HULL -//#define SHOW_ITERATIONS - -#if defined(DEBUG_CONVEX_HULL) || defined(SHOW_ITERATIONS) -#include <stdio.h> -#endif - -// Convex hull implementation based on Preparata and Hong -// Ole Kniemeyer, MAXON Computer GmbH -class b3ConvexHullInternal -{ -public: - class Point64 - { - public: - btInt64_t x; - btInt64_t y; - btInt64_t z; - - Point64(btInt64_t x, btInt64_t y, btInt64_t z) : x(x), y(y), z(z) - { - } - - bool isZero() - { - return (x == 0) && (y == 0) && (z == 0); - } - - btInt64_t dot(const Point64& b) const - { - return x * b.x + y * b.y + z * b.z; - } - }; - - class Point32 - { - public: - btInt32_t x; - btInt32_t y; - btInt32_t z; - int index; - - Point32() - { - } - - Point32(btInt32_t x, btInt32_t y, btInt32_t z) : x(x), y(y), z(z), index(-1) - { - } - - bool operator==(const Point32& b) const - { - return (x == b.x) && (y == b.y) && (z == b.z); - } - - bool operator!=(const Point32& b) const - { - return (x != b.x) || (y != b.y) || (z != b.z); - } - - bool isZero() - { - return (x == 0) && (y == 0) && (z == 0); - } - - Point64 cross(const Point32& b) const - { - return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); - } - - Point64 cross(const Point64& b) const - { - return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); - } - - btInt64_t dot(const Point32& b) const - { - return x * b.x + y * b.y + z * b.z; - } - - btInt64_t dot(const Point64& b) const - { - return x * b.x + y * b.y + z * b.z; - } - - Point32 operator+(const Point32& b) const - { - return Point32(x + b.x, y + b.y, z + b.z); - } - - Point32 operator-(const Point32& b) const - { - return Point32(x - b.x, y - b.y, z - b.z); - } - }; - - class Int128 - { - public: - btUint64_t low; - btUint64_t high; - - Int128() - { - } - - Int128(btUint64_t low, btUint64_t high) : low(low), high(high) - { - } - - Int128(btUint64_t low) : low(low), high(0) - { - } - - Int128(btInt64_t value) : low(value), high((value >= 0) ? 0 : (btUint64_t)-1LL) - { - } - - static Int128 mul(btInt64_t a, btInt64_t b); - - static Int128 mul(btUint64_t a, btUint64_t b); - - Int128 operator-() const - { - return Int128((btUint64_t) - (btInt64_t)low, ~high + (low == 0)); - } - - Int128 operator+(const Int128& b) const - { -#ifdef USE_X86_64_ASM - Int128 result; - __asm__( - "addq %[bl], %[rl]\n\t" - "adcq %[bh], %[rh]\n\t" - : [rl] "=r"(result.low), [rh] "=r"(result.high) - : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) - : "cc"); - return result; -#else - btUint64_t lo = low + b.low; - return Int128(lo, high + b.high + (lo < low)); -#endif - } - - Int128 operator-(const Int128& b) const - { -#ifdef USE_X86_64_ASM - Int128 result; - __asm__( - "subq %[bl], %[rl]\n\t" - "sbbq %[bh], %[rh]\n\t" - : [rl] "=r"(result.low), [rh] "=r"(result.high) - : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) - : "cc"); - return result; -#else - return *this + -b; -#endif - } - - Int128& operator+=(const Int128& b) - { -#ifdef USE_X86_64_ASM - __asm__( - "addq %[bl], %[rl]\n\t" - "adcq %[bh], %[rh]\n\t" - : [rl] "=r"(low), [rh] "=r"(high) - : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) - : "cc"); -#else - btUint64_t lo = low + b.low; - if (lo < low) - { - ++high; - } - low = lo; - high += b.high; -#endif - return *this; - } - - Int128& operator++() - { - if (++low == 0) - { - ++high; - } - return *this; - } - - Int128 operator*(btInt64_t b) const; - - b3Scalar toScalar() const - { - return ((btInt64_t)high >= 0) ? b3Scalar(high) * (b3Scalar(0x100000000LL) * b3Scalar(0x100000000LL)) + b3Scalar(low) - : -(-*this).toScalar(); - } - - int getSign() const - { - return ((btInt64_t)high < 0) ? -1 : (high || low) ? 1 : 0; - } - - bool operator<(const Int128& b) const - { - return (high < b.high) || ((high == b.high) && (low < b.low)); - } - - int ucmp(const Int128& b) const - { - if (high < b.high) - { - return -1; - } - if (high > b.high) - { - return 1; - } - if (low < b.low) - { - return -1; - } - if (low > b.low) - { - return 1; - } - return 0; - } - }; - - class Rational64 - { - private: - btUint64_t m_numerator; - btUint64_t m_denominator; - int sign; - - public: - Rational64(btInt64_t numerator, btInt64_t denominator) - { - if (numerator > 0) - { - sign = 1; - m_numerator = (btUint64_t)numerator; - } - else if (numerator < 0) - { - sign = -1; - m_numerator = (btUint64_t)-numerator; - } - else - { - sign = 0; - m_numerator = 0; - } - if (denominator > 0) - { - m_denominator = (btUint64_t)denominator; - } - else if (denominator < 0) - { - sign = -sign; - m_denominator = (btUint64_t)-denominator; - } - else - { - m_denominator = 0; - } - } - - bool isNegativeInfinity() const - { - return (sign < 0) && (m_denominator == 0); - } - - bool isNaN() const - { - return (sign == 0) && (m_denominator == 0); - } - - int compare(const Rational64& b) const; - - b3Scalar toScalar() const - { - return sign * ((m_denominator == 0) ? B3_INFINITY : (b3Scalar)m_numerator / m_denominator); - } - }; - - class Rational128 - { - private: - Int128 numerator; - Int128 denominator; - int sign; - bool isInt64; - - public: - Rational128(btInt64_t value) - { - if (value > 0) - { - sign = 1; - this->numerator = value; - } - else if (value < 0) - { - sign = -1; - this->numerator = -value; - } - else - { - sign = 0; - this->numerator = (btUint64_t)0; - } - this->denominator = (btUint64_t)1; - isInt64 = true; - } - - Rational128(const Int128& numerator, const Int128& denominator) - { - sign = numerator.getSign(); - if (sign >= 0) - { - this->numerator = numerator; - } - else - { - this->numerator = -numerator; - } - int dsign = denominator.getSign(); - if (dsign >= 0) - { - this->denominator = denominator; - } - else - { - sign = -sign; - this->denominator = -denominator; - } - isInt64 = false; - } - - int compare(const Rational128& b) const; - - int compare(btInt64_t b) const; - - b3Scalar toScalar() const - { - return sign * ((denominator.getSign() == 0) ? B3_INFINITY : numerator.toScalar() / denominator.toScalar()); - } - }; - - class PointR128 - { - public: - Int128 x; - Int128 y; - Int128 z; - Int128 denominator; - - PointR128() - { - } - - PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator) : x(x), y(y), z(z), denominator(denominator) - { - } - - b3Scalar xvalue() const - { - return x.toScalar() / denominator.toScalar(); - } - - b3Scalar yvalue() const - { - return y.toScalar() / denominator.toScalar(); - } - - b3Scalar zvalue() const - { - return z.toScalar() / denominator.toScalar(); - } - }; - - class Edge; - class Face; - - class Vertex - { - public: - Vertex* next; - Vertex* prev; - Edge* edges; - Face* firstNearbyFace; - Face* lastNearbyFace; - PointR128 point128; - Point32 point; - int copy; - - Vertex() : next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1) - { - } - -#ifdef DEBUG_CONVEX_HULL - void print() - { - b3Printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z); - } - - void printGraph(); -#endif - - Point32 operator-(const Vertex& b) const - { - return point - b.point; - } - - Rational128 dot(const Point64& b) const - { - return (point.index >= 0) ? Rational128(point.dot(b)) - : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator); - } - - b3Scalar xvalue() const - { - return (point.index >= 0) ? b3Scalar(point.x) : point128.xvalue(); - } - - b3Scalar yvalue() const - { - return (point.index >= 0) ? b3Scalar(point.y) : point128.yvalue(); - } - - b3Scalar zvalue() const - { - return (point.index >= 0) ? b3Scalar(point.z) : point128.zvalue(); - } - - void receiveNearbyFaces(Vertex* src) - { - if (lastNearbyFace) - { - lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace; - } - else - { - firstNearbyFace = src->firstNearbyFace; - } - if (src->lastNearbyFace) - { - lastNearbyFace = src->lastNearbyFace; - } - for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex) - { - b3Assert(f->nearbyVertex == src); - f->nearbyVertex = this; - } - src->firstNearbyFace = NULL; - src->lastNearbyFace = NULL; - } - }; - - class Edge - { - public: - Edge* next; - Edge* prev; - Edge* reverse; - Vertex* target; - Face* face; - int copy; - - ~Edge() - { - next = NULL; - prev = NULL; - reverse = NULL; - target = NULL; - face = NULL; - } - - void link(Edge* n) - { - b3Assert(reverse->target == n->reverse->target); - next = n; - n->prev = this; - } - -#ifdef DEBUG_CONVEX_HULL - void print() - { - b3Printf("E%p : %d -> %d, n=%p p=%p (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev, - reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z); - } -#endif - }; - - class Face - { - public: - Face* next; - Vertex* nearbyVertex; - Face* nextWithSameNearbyVertex; - Point32 origin; - Point32 dir0; - Point32 dir1; - - Face() : next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL) - { - } - - void init(Vertex* a, Vertex* b, Vertex* c) - { - nearbyVertex = a; - origin = a->point; - dir0 = *b - *a; - dir1 = *c - *a; - if (a->lastNearbyFace) - { - a->lastNearbyFace->nextWithSameNearbyVertex = this; - } - else - { - a->firstNearbyFace = this; - } - a->lastNearbyFace = this; - } - - Point64 getNormal() - { - return dir0.cross(dir1); - } - }; - - template <typename UWord, typename UHWord> - class DMul - { - private: - static btUint32_t high(btUint64_t value) - { - return (btUint32_t)(value >> 32); - } - - static btUint32_t low(btUint64_t value) - { - return (btUint32_t)value; - } - - static btUint64_t mul(btUint32_t a, btUint32_t b) - { - return (btUint64_t)a * (btUint64_t)b; - } - - static void shlHalf(btUint64_t& value) - { - value <<= 32; - } - - static btUint64_t high(Int128 value) - { - return value.high; - } - - static btUint64_t low(Int128 value) - { - return value.low; - } - - static Int128 mul(btUint64_t a, btUint64_t b) - { - return Int128::mul(a, b); - } - - static void shlHalf(Int128& value) - { - value.high = value.low; - value.low = 0; - } - - public: - static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh) - { - UWord p00 = mul(low(a), low(b)); - UWord p01 = mul(low(a), high(b)); - UWord p10 = mul(high(a), low(b)); - UWord p11 = mul(high(a), high(b)); - UWord p0110 = UWord(low(p01)) + UWord(low(p10)); - p11 += high(p01); - p11 += high(p10); - p11 += high(p0110); - shlHalf(p0110); - p00 += p0110; - if (p00 < p0110) - { - ++p11; - } - resLow = p00; - resHigh = p11; - } - }; - -private: - class IntermediateHull - { - public: - Vertex* minXy; - Vertex* maxXy; - Vertex* minYx; - Vertex* maxYx; - - IntermediateHull() : minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL) - { - } - - void print(); - }; - - enum Orientation - { - NONE, - CLOCKWISE, - COUNTER_CLOCKWISE - }; - - template <typename T> - class PoolArray - { - private: - T* array; - int size; - - public: - PoolArray<T>* next; - - PoolArray(int size) : size(size), next(NULL) - { - array = (T*)b3AlignedAlloc(sizeof(T) * size, 16); - } - - ~PoolArray() - { - b3AlignedFree(array); - } - - T* init() - { - T* o = array; - for (int i = 0; i < size; i++, o++) - { - o->next = (i + 1 < size) ? o + 1 : NULL; - } - return array; - } - }; - - template <typename T> - class Pool - { - private: - PoolArray<T>* arrays; - PoolArray<T>* nextArray; - T* freeObjects; - int arraySize; - - public: - Pool() : arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256) - { - } - - ~Pool() - { - while (arrays) - { - PoolArray<T>* p = arrays; - arrays = p->next; - p->~PoolArray<T>(); - b3AlignedFree(p); - } - } - - void reset() - { - nextArray = arrays; - freeObjects = NULL; - } - - void setArraySize(int arraySize) - { - this->arraySize = arraySize; - } - - T* newObject() - { - T* o = freeObjects; - if (!o) - { - PoolArray<T>* p = nextArray; - if (p) - { - nextArray = p->next; - } - else - { - p = new (b3AlignedAlloc(sizeof(PoolArray<T>), 16)) PoolArray<T>(arraySize); - p->next = arrays; - arrays = p; - } - o = p->init(); - } - freeObjects = o->next; - return new (o) T(); - }; - - void freeObject(T* object) - { - object->~T(); - object->next = freeObjects; - freeObjects = object; - } - }; - - b3Vector3 scaling; - b3Vector3 center; - Pool<Vertex> vertexPool; - Pool<Edge> edgePool; - Pool<Face> facePool; - b3AlignedObjectArray<Vertex*> originalVertices; - int mergeStamp; - int minAxis; - int medAxis; - int maxAxis; - int usedEdgePairs; - int maxUsedEdgePairs; - - static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t); - Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot); - void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1); - - Edge* newEdgePair(Vertex* from, Vertex* to); - - void removeEdgePair(Edge* edge) - { - Edge* n = edge->next; - Edge* r = edge->reverse; - - b3Assert(edge->target && r->target); - - if (n != edge) - { - n->prev = edge->prev; - edge->prev->next = n; - r->target->edges = n; - } - else - { - r->target->edges = NULL; - } - - n = r->next; - - if (n != r) - { - n->prev = r->prev; - r->prev->next = n; - edge->target->edges = n; - } - else - { - edge->target->edges = NULL; - } - - edgePool.freeObject(edge); - edgePool.freeObject(r); - usedEdgePairs--; - } - - void computeInternal(int start, int end, IntermediateHull& result); - - bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1); - - void merge(IntermediateHull& h0, IntermediateHull& h1); - - b3Vector3 toBtVector(const Point32& v); - - b3Vector3 getBtNormal(Face* face); - - bool shiftFace(Face* face, b3Scalar amount, b3AlignedObjectArray<Vertex*> stack); - -public: - Vertex* vertexList; - - void compute(const void* coords, bool doubleCoords, int stride, int count); - - b3Vector3 getCoordinates(const Vertex* v); - - b3Scalar shrink(b3Scalar amount, b3Scalar clampAmount); -}; - -b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::operator*(btInt64_t b) const -{ - bool negative = (btInt64_t)high < 0; - Int128 a = negative ? -*this : *this; - if (b < 0) - { - negative = !negative; - b = -b; - } - Int128 result = mul(a.low, (btUint64_t)b); - result.high += a.high * (btUint64_t)b; - return negative ? -result : result; -} - -b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::mul(btInt64_t a, btInt64_t b) -{ - Int128 result; - -#ifdef USE_X86_64_ASM - __asm__("imulq %[b]" - : "=a"(result.low), "=d"(result.high) - : "0"(a), [b] "r"(b) - : "cc"); - return result; - -#else - bool negative = a < 0; - if (negative) - { - a = -a; - } - if (b < 0) - { - negative = !negative; - b = -b; - } - DMul<btUint64_t, btUint32_t>::mul((btUint64_t)a, (btUint64_t)b, result.low, result.high); - return negative ? -result : result; -#endif -} - -b3ConvexHullInternal::Int128 b3ConvexHullInternal::Int128::mul(btUint64_t a, btUint64_t b) -{ - Int128 result; - -#ifdef USE_X86_64_ASM - __asm__("mulq %[b]" - : "=a"(result.low), "=d"(result.high) - : "0"(a), [b] "r"(b) - : "cc"); - -#else - DMul<btUint64_t, btUint32_t>::mul(a, b, result.low, result.high); -#endif - - return result; -} - -int b3ConvexHullInternal::Rational64::compare(const Rational64& b) const -{ - if (sign != b.sign) - { - return sign - b.sign; - } - else if (sign == 0) - { - return 0; - } - - // return (numerator * b.denominator > b.numerator * denominator) ? sign : (numerator * b.denominator < b.numerator * denominator) ? -sign : 0; - -#ifdef USE_X86_64_ASM - - int result; - btInt64_t tmp; - btInt64_t dummy; - __asm__( - "mulq %[bn]\n\t" - "movq %%rax, %[tmp]\n\t" - "movq %%rdx, %%rbx\n\t" - "movq %[tn], %%rax\n\t" - "mulq %[bd]\n\t" - "subq %[tmp], %%rax\n\t" - "sbbq %%rbx, %%rdx\n\t" // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator" - "setnsb %%bh\n\t" // bh=1 if difference is non-negative, bh=0 otherwise - "orq %%rdx, %%rax\n\t" - "setnzb %%bl\n\t" // bl=1 if difference if non-zero, bl=0 if it is zero - "decb %%bh\n\t" // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference) - "shll $16, %%ebx\n\t" // ebx has same sign as difference - : "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy) - : "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator) - : "%rdx", "cc"); - return result ? result ^ sign // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero) - // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero) - : 0; - -#else - - return sign * Int128::mul(m_numerator, b.m_denominator).ucmp(Int128::mul(m_denominator, b.m_numerator)); - -#endif -} - -int b3ConvexHullInternal::Rational128::compare(const Rational128& b) const -{ - if (sign != b.sign) - { - return sign - b.sign; - } - else if (sign == 0) - { - return 0; - } - if (isInt64) - { - return -b.compare(sign * (btInt64_t)numerator.low); - } - - Int128 nbdLow, nbdHigh, dbnLow, dbnHigh; - DMul<Int128, btUint64_t>::mul(numerator, b.denominator, nbdLow, nbdHigh); - DMul<Int128, btUint64_t>::mul(denominator, b.numerator, dbnLow, dbnHigh); - - int cmp = nbdHigh.ucmp(dbnHigh); - if (cmp) - { - return cmp * sign; - } - return nbdLow.ucmp(dbnLow) * sign; -} - -int b3ConvexHullInternal::Rational128::compare(btInt64_t b) const -{ - if (isInt64) - { - btInt64_t a = sign * (btInt64_t)numerator.low; - return (a > b) ? 1 : (a < b) ? -1 : 0; - } - if (b > 0) - { - if (sign <= 0) - { - return -1; - } - } - else if (b < 0) - { - if (sign >= 0) - { - return 1; - } - b = -b; - } - else - { - return sign; - } - - return numerator.ucmp(denominator * b) * sign; -} - -b3ConvexHullInternal::Edge* b3ConvexHullInternal::newEdgePair(Vertex* from, Vertex* to) -{ - b3Assert(from && to); - Edge* e = edgePool.newObject(); - Edge* r = edgePool.newObject(); - e->reverse = r; - r->reverse = e; - e->copy = mergeStamp; - r->copy = mergeStamp; - e->target = to; - r->target = from; - e->face = NULL; - r->face = NULL; - usedEdgePairs++; - if (usedEdgePairs > maxUsedEdgePairs) - { - maxUsedEdgePairs = usedEdgePairs; - } - return e; -} - -bool b3ConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1) -{ - Vertex* v0 = h0.maxYx; - Vertex* v1 = h1.minYx; - if ((v0->point.x == v1->point.x) && (v0->point.y == v1->point.y)) - { - b3Assert(v0->point.z < v1->point.z); - Vertex* v1p = v1->prev; - if (v1p == v1) - { - c0 = v0; - if (v1->edges) - { - b3Assert(v1->edges->next == v1->edges); - v1 = v1->edges->target; - b3Assert(v1->edges->next == v1->edges); - } - c1 = v1; - return false; - } - Vertex* v1n = v1->next; - v1p->next = v1n; - v1n->prev = v1p; - if (v1 == h1.minXy) - { - if ((v1n->point.x < v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y < v1p->point.y))) - { - h1.minXy = v1n; - } - else - { - h1.minXy = v1p; - } - } - if (v1 == h1.maxXy) - { - if ((v1n->point.x > v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y > v1p->point.y))) - { - h1.maxXy = v1n; - } - else - { - h1.maxXy = v1p; - } - } - } - - v0 = h0.maxXy; - v1 = h1.maxXy; - Vertex* v00 = NULL; - Vertex* v10 = NULL; - btInt32_t sign = 1; - - for (int side = 0; side <= 1; side++) - { - btInt32_t dx = (v1->point.x - v0->point.x) * sign; - if (dx > 0) - { - while (true) - { - btInt32_t dy = v1->point.y - v0->point.y; - - Vertex* w0 = side ? v0->next : v0->prev; - if (w0 != v0) - { - btInt32_t dx0 = (w0->point.x - v0->point.x) * sign; - btInt32_t dy0 = w0->point.y - v0->point.y; - if ((dy0 <= 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx <= dy * dx0)))) - { - v0 = w0; - dx = (v1->point.x - v0->point.x) * sign; - continue; - } - } - - Vertex* w1 = side ? v1->next : v1->prev; - if (w1 != v1) - { - btInt32_t dx1 = (w1->point.x - v1->point.x) * sign; - btInt32_t dy1 = w1->point.y - v1->point.y; - btInt32_t dxn = (w1->point.x - v0->point.x) * sign; - if ((dxn > 0) && (dy1 < 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx < dy * dx1)))) - { - v1 = w1; - dx = dxn; - continue; - } - } - - break; - } - } - else if (dx < 0) - { - while (true) - { - btInt32_t dy = v1->point.y - v0->point.y; - - Vertex* w1 = side ? v1->prev : v1->next; - if (w1 != v1) - { - btInt32_t dx1 = (w1->point.x - v1->point.x) * sign; - btInt32_t dy1 = w1->point.y - v1->point.y; - if ((dy1 >= 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx <= dy * dx1)))) - { - v1 = w1; - dx = (v1->point.x - v0->point.x) * sign; - continue; - } - } - - Vertex* w0 = side ? v0->prev : v0->next; - if (w0 != v0) - { - btInt32_t dx0 = (w0->point.x - v0->point.x) * sign; - btInt32_t dy0 = w0->point.y - v0->point.y; - btInt32_t dxn = (v1->point.x - w0->point.x) * sign; - if ((dxn < 0) && (dy0 > 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx < dy * dx0)))) - { - v0 = w0; - dx = dxn; - continue; - } - } - - break; - } - } - else - { - btInt32_t x = v0->point.x; - btInt32_t y0 = v0->point.y; - Vertex* w0 = v0; - Vertex* t; - while (((t = side ? w0->next : w0->prev) != v0) && (t->point.x == x) && (t->point.y <= y0)) - { - w0 = t; - y0 = t->point.y; - } - v0 = w0; - - btInt32_t y1 = v1->point.y; - Vertex* w1 = v1; - while (((t = side ? w1->prev : w1->next) != v1) && (t->point.x == x) && (t->point.y >= y1)) - { - w1 = t; - y1 = t->point.y; - } - v1 = w1; - } - - if (side == 0) - { - v00 = v0; - v10 = v1; - - v0 = h0.minXy; - v1 = h1.minXy; - sign = -1; - } - } - - v0->prev = v1; - v1->next = v0; - - v00->next = v10; - v10->prev = v00; - - if (h1.minXy->point.x < h0.minXy->point.x) - { - h0.minXy = h1.minXy; - } - if (h1.maxXy->point.x >= h0.maxXy->point.x) - { - h0.maxXy = h1.maxXy; - } - - h0.maxYx = h1.maxYx; - - c0 = v00; - c1 = v10; - - return true; -} - -void b3ConvexHullInternal::computeInternal(int start, int end, IntermediateHull& result) -{ - int n = end - start; - switch (n) - { - case 0: - result.minXy = NULL; - result.maxXy = NULL; - result.minYx = NULL; - result.maxYx = NULL; - return; - case 2: - { - Vertex* v = originalVertices[start]; - Vertex* w = v + 1; - if (v->point != w->point) - { - btInt32_t dx = v->point.x - w->point.x; - btInt32_t dy = v->point.y - w->point.y; - - if ((dx == 0) && (dy == 0)) - { - if (v->point.z > w->point.z) - { - Vertex* t = w; - w = v; - v = t; - } - b3Assert(v->point.z < w->point.z); - v->next = v; - v->prev = v; - result.minXy = v; - result.maxXy = v; - result.minYx = v; - result.maxYx = v; - } - else - { - v->next = w; - v->prev = w; - w->next = v; - w->prev = v; - - if ((dx < 0) || ((dx == 0) && (dy < 0))) - { - result.minXy = v; - result.maxXy = w; - } - else - { - result.minXy = w; - result.maxXy = v; - } - - if ((dy < 0) || ((dy == 0) && (dx < 0))) - { - result.minYx = v; - result.maxYx = w; - } - else - { - result.minYx = w; - result.maxYx = v; - } - } - - Edge* e = newEdgePair(v, w); - e->link(e); - v->edges = e; - - e = e->reverse; - e->link(e); - w->edges = e; - - return; - } - } - // lint -fallthrough - case 1: - { - Vertex* v = originalVertices[start]; - v->edges = NULL; - v->next = v; - v->prev = v; - - result.minXy = v; - result.maxXy = v; - result.minYx = v; - result.maxYx = v; - - return; - } - } - - int split0 = start + n / 2; - Point32 p = originalVertices[split0 - 1]->point; - int split1 = split0; - while ((split1 < end) && (originalVertices[split1]->point == p)) - { - split1++; - } - computeInternal(start, split0, result); - IntermediateHull hull1; - computeInternal(split1, end, hull1); -#ifdef DEBUG_CONVEX_HULL - b3Printf("\n\nMerge\n"); - result.print(); - hull1.print(); -#endif - merge(result, hull1); -#ifdef DEBUG_CONVEX_HULL - b3Printf("\n Result\n"); - result.print(); -#endif -} - -#ifdef DEBUG_CONVEX_HULL -void b3ConvexHullInternal::IntermediateHull::print() -{ - b3Printf(" Hull\n"); - for (Vertex* v = minXy; v;) - { - b3Printf(" "); - v->print(); - if (v == maxXy) - { - b3Printf(" maxXy"); - } - if (v == minYx) - { - b3Printf(" minYx"); - } - if (v == maxYx) - { - b3Printf(" maxYx"); - } - if (v->next->prev != v) - { - b3Printf(" Inconsistency"); - } - b3Printf("\n"); - v = v->next; - if (v == minXy) - { - break; - } - } - if (minXy) - { - minXy->copy = (minXy->copy == -1) ? -2 : -1; - minXy->printGraph(); - } -} - -void b3ConvexHullInternal::Vertex::printGraph() -{ - print(); - b3Printf("\nEdges\n"); - Edge* e = edges; - if (e) - { - do - { - e->print(); - b3Printf("\n"); - e = e->next; - } while (e != edges); - do - { - Vertex* v = e->target; - if (v->copy != copy) - { - v->copy = copy; - v->printGraph(); - } - e = e->next; - } while (e != edges); - } -} -#endif - -b3ConvexHullInternal::Orientation b3ConvexHullInternal::getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t) -{ - b3Assert(prev->reverse->target == next->reverse->target); - if (prev->next == next) - { - if (prev->prev == next) - { - Point64 n = t.cross(s); - Point64 m = (*prev->target - *next->reverse->target).cross(*next->target - *next->reverse->target); - b3Assert(!m.isZero()); - btInt64_t dot = n.dot(m); - b3Assert(dot != 0); - return (dot > 0) ? COUNTER_CLOCKWISE : CLOCKWISE; - } - return COUNTER_CLOCKWISE; - } - else if (prev->prev == next) - { - return CLOCKWISE; - } - else - { - return NONE; - } -} - -b3ConvexHullInternal::Edge* b3ConvexHullInternal::findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot) -{ - Edge* minEdge = NULL; - -#ifdef DEBUG_CONVEX_HULL - b3Printf("find max edge for %d\n", start->point.index); -#endif - Edge* e = start->edges; - if (e) - { - do - { - if (e->copy > mergeStamp) - { - Point32 t = *e->target - *start; - Rational64 cot(t.dot(sxrxs), t.dot(rxs)); -#ifdef DEBUG_CONVEX_HULL - b3Printf(" Angle is %f (%d) for ", (float)b3Atan(cot.toScalar()), (int)cot.isNaN()); - e->print(); -#endif - if (cot.isNaN()) - { - b3Assert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0)); - } - else - { - int cmp; - if (minEdge == NULL) - { - minCot = cot; - minEdge = e; - } - else if ((cmp = cot.compare(minCot)) < 0) - { - minCot = cot; - minEdge = e; - } - else if ((cmp == 0) && (ccw == (getOrientation(minEdge, e, s, t) == COUNTER_CLOCKWISE))) - { - minEdge = e; - } - } -#ifdef DEBUG_CONVEX_HULL - b3Printf("\n"); -#endif - } - e = e->next; - } while (e != start->edges); - } - return minEdge; -} - -void b3ConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1) -{ - Edge* start0 = e0; - Edge* start1 = e1; - Point32 et0 = start0 ? start0->target->point : c0->point; - Point32 et1 = start1 ? start1->target->point : c1->point; - Point32 s = c1->point - c0->point; - Point64 normal = ((start0 ? start0 : start1)->target->point - c0->point).cross(s); - btInt64_t dist = c0->point.dot(normal); - b3Assert(!start1 || (start1->target->point.dot(normal) == dist)); - Point64 perp = s.cross(normal); - b3Assert(!perp.isZero()); - -#ifdef DEBUG_CONVEX_HULL - b3Printf(" Advancing %d %d (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1); -#endif - - btInt64_t maxDot0 = et0.dot(perp); - if (e0) - { - while (e0->target != stop0) - { - Edge* e = e0->reverse->prev; - if (e->target->point.dot(normal) < dist) - { - break; - } - b3Assert(e->target->point.dot(normal) == dist); - if (e->copy == mergeStamp) - { - break; - } - btInt64_t dot = e->target->point.dot(perp); - if (dot <= maxDot0) - { - break; - } - maxDot0 = dot; - e0 = e; - et0 = e->target->point; - } - } - - btInt64_t maxDot1 = et1.dot(perp); - if (e1) - { - while (e1->target != stop1) - { - Edge* e = e1->reverse->next; - if (e->target->point.dot(normal) < dist) - { - break; - } - b3Assert(e->target->point.dot(normal) == dist); - if (e->copy == mergeStamp) - { - break; - } - btInt64_t dot = e->target->point.dot(perp); - if (dot <= maxDot1) - { - break; - } - maxDot1 = dot; - e1 = e; - et1 = e->target->point; - } - } - -#ifdef DEBUG_CONVEX_HULL - b3Printf(" Starting at %d %d\n", et0.index, et1.index); -#endif - - btInt64_t dx = maxDot1 - maxDot0; - if (dx > 0) - { - while (true) - { - btInt64_t dy = (et1 - et0).dot(s); - - if (e0 && (e0->target != stop0)) - { - Edge* f0 = e0->next->reverse; - if (f0->copy > mergeStamp) - { - btInt64_t dx0 = (f0->target->point - et0).dot(perp); - btInt64_t dy0 = (f0->target->point - et0).dot(s); - if ((dx0 == 0) ? (dy0 < 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) >= 0))) - { - et0 = f0->target->point; - dx = (et1 - et0).dot(perp); - e0 = (e0 == start0) ? NULL : f0; - continue; - } - } - } - - if (e1 && (e1->target != stop1)) - { - Edge* f1 = e1->reverse->next; - if (f1->copy > mergeStamp) - { - Point32 d1 = f1->target->point - et1; - if (d1.dot(normal) == 0) - { - btInt64_t dx1 = d1.dot(perp); - btInt64_t dy1 = d1.dot(s); - btInt64_t dxn = (f1->target->point - et0).dot(perp); - if ((dxn > 0) && ((dx1 == 0) ? (dy1 < 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) > 0)))) - { - e1 = f1; - et1 = e1->target->point; - dx = dxn; - continue; - } - } - else - { - b3Assert((e1 == start1) && (d1.dot(normal) < 0)); - } - } - } - - break; - } - } - else if (dx < 0) - { - while (true) - { - btInt64_t dy = (et1 - et0).dot(s); - - if (e1 && (e1->target != stop1)) - { - Edge* f1 = e1->prev->reverse; - if (f1->copy > mergeStamp) - { - btInt64_t dx1 = (f1->target->point - et1).dot(perp); - btInt64_t dy1 = (f1->target->point - et1).dot(s); - if ((dx1 == 0) ? (dy1 > 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) <= 0))) - { - et1 = f1->target->point; - dx = (et1 - et0).dot(perp); - e1 = (e1 == start1) ? NULL : f1; - continue; - } - } - } - - if (e0 && (e0->target != stop0)) - { - Edge* f0 = e0->reverse->prev; - if (f0->copy > mergeStamp) - { - Point32 d0 = f0->target->point - et0; - if (d0.dot(normal) == 0) - { - btInt64_t dx0 = d0.dot(perp); - btInt64_t dy0 = d0.dot(s); - btInt64_t dxn = (et1 - f0->target->point).dot(perp); - if ((dxn < 0) && ((dx0 == 0) ? (dy0 > 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) < 0)))) - { - e0 = f0; - et0 = e0->target->point; - dx = dxn; - continue; - } - } - else - { - b3Assert((e0 == start0) && (d0.dot(normal) < 0)); - } - } - } - - break; - } - } -#ifdef DEBUG_CONVEX_HULL - b3Printf(" Advanced edges to %d %d\n", et0.index, et1.index); -#endif -} - -void b3ConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1) -{ - if (!h1.maxXy) - { - return; - } - if (!h0.maxXy) - { - h0 = h1; - return; - } - - mergeStamp--; - - Vertex* c0 = NULL; - Edge* toPrev0 = NULL; - Edge* firstNew0 = NULL; - Edge* pendingHead0 = NULL; - Edge* pendingTail0 = NULL; - Vertex* c1 = NULL; - Edge* toPrev1 = NULL; - Edge* firstNew1 = NULL; - Edge* pendingHead1 = NULL; - Edge* pendingTail1 = NULL; - Point32 prevPoint; - - if (mergeProjection(h0, h1, c0, c1)) - { - Point32 s = *c1 - *c0; - Point64 normal = Point32(0, 0, -1).cross(s); - Point64 t = s.cross(normal); - b3Assert(!t.isZero()); - - Edge* e = c0->edges; - Edge* start0 = NULL; - if (e) - { - do - { - btInt64_t dot = (*e->target - *c0).dot(normal); - b3Assert(dot <= 0); - if ((dot == 0) && ((*e->target - *c0).dot(t) > 0)) - { - if (!start0 || (getOrientation(start0, e, s, Point32(0, 0, -1)) == CLOCKWISE)) - { - start0 = e; - } - } - e = e->next; - } while (e != c0->edges); - } - - e = c1->edges; - Edge* start1 = NULL; - if (e) - { - do - { - btInt64_t dot = (*e->target - *c1).dot(normal); - b3Assert(dot <= 0); - if ((dot == 0) && ((*e->target - *c1).dot(t) > 0)) - { - if (!start1 || (getOrientation(start1, e, s, Point32(0, 0, -1)) == COUNTER_CLOCKWISE)) - { - start1 = e; - } - } - e = e->next; - } while (e != c1->edges); - } - - if (start0 || start1) - { - findEdgeForCoplanarFaces(c0, c1, start0, start1, NULL, NULL); - if (start0) - { - c0 = start0->target; - } - if (start1) - { - c1 = start1->target; - } - } - - prevPoint = c1->point; - prevPoint.z++; - } - else - { - prevPoint = c1->point; - prevPoint.x++; - } - - Vertex* first0 = c0; - Vertex* first1 = c1; - bool firstRun = true; - - while (true) - { - Point32 s = *c1 - *c0; - Point32 r = prevPoint - c0->point; - Point64 rxs = r.cross(s); - Point64 sxrxs = s.cross(rxs); - -#ifdef DEBUG_CONVEX_HULL - b3Printf("\n Checking %d %d\n", c0->point.index, c1->point.index); -#endif - Rational64 minCot0(0, 0); - Edge* min0 = findMaxAngle(false, c0, s, rxs, sxrxs, minCot0); - Rational64 minCot1(0, 0); - Edge* min1 = findMaxAngle(true, c1, s, rxs, sxrxs, minCot1); - if (!min0 && !min1) - { - Edge* e = newEdgePair(c0, c1); - e->link(e); - c0->edges = e; - - e = e->reverse; - e->link(e); - c1->edges = e; - return; - } - else - { - int cmp = !min0 ? 1 : !min1 ? -1 : minCot0.compare(minCot1); -#ifdef DEBUG_CONVEX_HULL - b3Printf(" -> Result %d\n", cmp); -#endif - if (firstRun || ((cmp >= 0) ? !minCot1.isNegativeInfinity() : !minCot0.isNegativeInfinity())) - { - Edge* e = newEdgePair(c0, c1); - if (pendingTail0) - { - pendingTail0->prev = e; - } - else - { - pendingHead0 = e; - } - e->next = pendingTail0; - pendingTail0 = e; - - e = e->reverse; - if (pendingTail1) - { - pendingTail1->next = e; - } - else - { - pendingHead1 = e; - } - e->prev = pendingTail1; - pendingTail1 = e; - } - - Edge* e0 = min0; - Edge* e1 = min1; - -#ifdef DEBUG_CONVEX_HULL - b3Printf(" Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1); -#endif - - if (cmp == 0) - { - findEdgeForCoplanarFaces(c0, c1, e0, e1, NULL, NULL); - } - - if ((cmp >= 0) && e1) - { - if (toPrev1) - { - for (Edge *e = toPrev1->next, *n = NULL; e != min1; e = n) - { - n = e->next; - removeEdgePair(e); - } - } - - if (pendingTail1) - { - if (toPrev1) - { - toPrev1->link(pendingHead1); - } - else - { - min1->prev->link(pendingHead1); - firstNew1 = pendingHead1; - } - pendingTail1->link(min1); - pendingHead1 = NULL; - pendingTail1 = NULL; - } - else if (!toPrev1) - { - firstNew1 = min1; - } - - prevPoint = c1->point; - c1 = e1->target; - toPrev1 = e1->reverse; - } - - if ((cmp <= 0) && e0) - { - if (toPrev0) - { - for (Edge *e = toPrev0->prev, *n = NULL; e != min0; e = n) - { - n = e->prev; - removeEdgePair(e); - } - } - - if (pendingTail0) - { - if (toPrev0) - { - pendingHead0->link(toPrev0); - } - else - { - pendingHead0->link(min0->next); - firstNew0 = pendingHead0; - } - min0->link(pendingTail0); - pendingHead0 = NULL; - pendingTail0 = NULL; - } - else if (!toPrev0) - { - firstNew0 = min0; - } - - prevPoint = c0->point; - c0 = e0->target; - toPrev0 = e0->reverse; - } - } - - if ((c0 == first0) && (c1 == first1)) - { - if (toPrev0 == NULL) - { - pendingHead0->link(pendingTail0); - c0->edges = pendingTail0; - } - else - { - for (Edge *e = toPrev0->prev, *n = NULL; e != firstNew0; e = n) - { - n = e->prev; - removeEdgePair(e); - } - if (pendingTail0) - { - pendingHead0->link(toPrev0); - firstNew0->link(pendingTail0); - } - } - - if (toPrev1 == NULL) - { - pendingTail1->link(pendingHead1); - c1->edges = pendingTail1; - } - else - { - for (Edge *e = toPrev1->next, *n = NULL; e != firstNew1; e = n) - { - n = e->next; - removeEdgePair(e); - } - if (pendingTail1) - { - toPrev1->link(pendingHead1); - pendingTail1->link(firstNew1); - } - } - - return; - } - - firstRun = false; - } -} - -static bool b3PointCmp(const b3ConvexHullInternal::Point32& p, const b3ConvexHullInternal::Point32& q) -{ - return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z)))); -} - -void b3ConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count) -{ - b3Vector3 min = b3MakeVector3(b3Scalar(1e30), b3Scalar(1e30), b3Scalar(1e30)), max = b3MakeVector3(b3Scalar(-1e30), b3Scalar(-1e30), b3Scalar(-1e30)); - const char* ptr = (const char*)coords; - if (doubleCoords) - { - for (int i = 0; i < count; i++) - { - const double* v = (const double*)ptr; - b3Vector3 p = b3MakeVector3((b3Scalar)v[0], (b3Scalar)v[1], (b3Scalar)v[2]); - ptr += stride; - min.setMin(p); - max.setMax(p); - } - } - else - { - for (int i = 0; i < count; i++) - { - const float* v = (const float*)ptr; - b3Vector3 p = b3MakeVector3(v[0], v[1], v[2]); - ptr += stride; - min.setMin(p); - max.setMax(p); - } - } - - b3Vector3 s = max - min; - maxAxis = s.maxAxis(); - minAxis = s.minAxis(); - if (minAxis == maxAxis) - { - minAxis = (maxAxis + 1) % 3; - } - medAxis = 3 - maxAxis - minAxis; - - s /= b3Scalar(10216); - if (((medAxis + 1) % 3) != maxAxis) - { - s *= -1; - } - scaling = s; - - if (s[0] != 0) - { - s[0] = b3Scalar(1) / s[0]; - } - if (s[1] != 0) - { - s[1] = b3Scalar(1) / s[1]; - } - if (s[2] != 0) - { - s[2] = b3Scalar(1) / s[2]; - } - - center = (min + max) * b3Scalar(0.5); - - b3AlignedObjectArray<Point32> points; - points.resize(count); - ptr = (const char*)coords; - if (doubleCoords) - { - for (int i = 0; i < count; i++) - { - const double* v = (const double*)ptr; - b3Vector3 p = b3MakeVector3((b3Scalar)v[0], (b3Scalar)v[1], (b3Scalar)v[2]); - ptr += stride; - p = (p - center) * s; - points[i].x = (btInt32_t)p[medAxis]; - points[i].y = (btInt32_t)p[maxAxis]; - points[i].z = (btInt32_t)p[minAxis]; - points[i].index = i; - } - } - else - { - for (int i = 0; i < count; i++) - { - const float* v = (const float*)ptr; - b3Vector3 p = b3MakeVector3(v[0], v[1], v[2]); - ptr += stride; - p = (p - center) * s; - points[i].x = (btInt32_t)p[medAxis]; - points[i].y = (btInt32_t)p[maxAxis]; - points[i].z = (btInt32_t)p[minAxis]; - points[i].index = i; - } - } - points.quickSort(b3PointCmp); - - vertexPool.reset(); - vertexPool.setArraySize(count); - originalVertices.resize(count); - for (int i = 0; i < count; i++) - { - Vertex* v = vertexPool.newObject(); - v->edges = NULL; - v->point = points[i]; - v->copy = -1; - originalVertices[i] = v; - } - - points.clear(); - - edgePool.reset(); - edgePool.setArraySize(6 * count); - - usedEdgePairs = 0; - maxUsedEdgePairs = 0; - - mergeStamp = -3; - - IntermediateHull hull; - computeInternal(0, count, hull); - vertexList = hull.minXy; -#ifdef DEBUG_CONVEX_HULL - b3Printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count); -#endif -} - -b3Vector3 b3ConvexHullInternal::toBtVector(const Point32& v) -{ - b3Vector3 p; - p[medAxis] = b3Scalar(v.x); - p[maxAxis] = b3Scalar(v.y); - p[minAxis] = b3Scalar(v.z); - return p * scaling; -} - -b3Vector3 b3ConvexHullInternal::getBtNormal(Face* face) -{ - return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized(); -} - -b3Vector3 b3ConvexHullInternal::getCoordinates(const Vertex* v) -{ - b3Vector3 p; - p[medAxis] = v->xvalue(); - p[maxAxis] = v->yvalue(); - p[minAxis] = v->zvalue(); - return p * scaling + center; -} - -b3Scalar b3ConvexHullInternal::shrink(b3Scalar amount, b3Scalar clampAmount) -{ - if (!vertexList) - { - return 0; - } - int stamp = --mergeStamp; - b3AlignedObjectArray<Vertex*> stack; - vertexList->copy = stamp; - stack.push_back(vertexList); - b3AlignedObjectArray<Face*> faces; - - Point32 ref = vertexList->point; - Int128 hullCenterX(0, 0); - Int128 hullCenterY(0, 0); - Int128 hullCenterZ(0, 0); - Int128 volume(0, 0); - - while (stack.size() > 0) - { - Vertex* v = stack[stack.size() - 1]; - stack.pop_back(); - Edge* e = v->edges; - if (e) - { - do - { - if (e->target->copy != stamp) - { - e->target->copy = stamp; - stack.push_back(e->target); - } - if (e->copy != stamp) - { - Face* face = facePool.newObject(); - face->init(e->target, e->reverse->prev->target, v); - faces.push_back(face); - Edge* f = e; - - Vertex* a = NULL; - Vertex* b = NULL; - do - { - if (a && b) - { - btInt64_t vol = (v->point - ref).dot((a->point - ref).cross(b->point - ref)); - b3Assert(vol >= 0); - Point32 c = v->point + a->point + b->point + ref; - hullCenterX += vol * c.x; - hullCenterY += vol * c.y; - hullCenterZ += vol * c.z; - volume += vol; - } - - b3Assert(f->copy != stamp); - f->copy = stamp; - f->face = face; - - a = b; - b = f->target; - - f = f->reverse->prev; - } while (f != e); - } - e = e->next; - } while (e != v->edges); - } - } - - if (volume.getSign() <= 0) - { - return 0; - } - - b3Vector3 hullCenter; - hullCenter[medAxis] = hullCenterX.toScalar(); - hullCenter[maxAxis] = hullCenterY.toScalar(); - hullCenter[minAxis] = hullCenterZ.toScalar(); - hullCenter /= 4 * volume.toScalar(); - hullCenter *= scaling; - - int faceCount = faces.size(); - - if (clampAmount > 0) - { - b3Scalar minDist = B3_INFINITY; - for (int i = 0; i < faceCount; i++) - { - b3Vector3 normal = getBtNormal(faces[i]); - b3Scalar dist = normal.dot(toBtVector(faces[i]->origin) - hullCenter); - if (dist < minDist) - { - minDist = dist; - } - } - - if (minDist <= 0) - { - return 0; - } - - amount = b3Min(amount, minDist * clampAmount); - } - - unsigned int seed = 243703; - for (int i = 0; i < faceCount; i++, seed = 1664525 * seed + 1013904223) - { - b3Swap(faces[i], faces[seed % faceCount]); - } - - for (int i = 0; i < faceCount; i++) - { - if (!shiftFace(faces[i], amount, stack)) - { - return -amount; - } - } - - return amount; -} - -bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjectArray<Vertex*> stack) -{ - b3Vector3 origShift = getBtNormal(face) * -amount; - if (scaling[0] != 0) - { - origShift[0] /= scaling[0]; - } - if (scaling[1] != 0) - { - origShift[1] /= scaling[1]; - } - if (scaling[2] != 0) - { - origShift[2] /= scaling[2]; - } - Point32 shift((btInt32_t)origShift[medAxis], (btInt32_t)origShift[maxAxis], (btInt32_t)origShift[minAxis]); - if (shift.isZero()) - { - return true; - } - Point64 normal = face->getNormal(); -#ifdef DEBUG_CONVEX_HULL - b3Printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n", - face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z); -#endif - btInt64_t origDot = face->origin.dot(normal); - Point32 shiftedOrigin = face->origin + shift; - btInt64_t shiftedDot = shiftedOrigin.dot(normal); - b3Assert(shiftedDot <= origDot); - if (shiftedDot >= origDot) - { - return false; - } - - Edge* intersection = NULL; - - Edge* startEdge = face->nearbyVertex->edges; -#ifdef DEBUG_CONVEX_HULL - b3Printf("Start edge is "); - startEdge->print(); - b3Printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot); -#endif - Rational128 optDot = face->nearbyVertex->dot(normal); - int cmp = optDot.compare(shiftedDot); -#ifdef SHOW_ITERATIONS - int n = 0; -#endif - if (cmp >= 0) - { - Edge* e = startEdge; - do - { -#ifdef SHOW_ITERATIONS - n++; -#endif - Rational128 dot = e->target->dot(normal); - b3Assert(dot.compare(origDot) <= 0); -#ifdef DEBUG_CONVEX_HULL - b3Printf("Moving downwards, edge is "); - e->print(); - b3Printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot); -#endif - if (dot.compare(optDot) < 0) - { - int c = dot.compare(shiftedDot); - optDot = dot; - e = e->reverse; - startEdge = e; - if (c < 0) - { - intersection = e; - break; - } - cmp = c; - } - e = e->prev; - } while (e != startEdge); - - if (!intersection) - { - return false; - } - } - else - { - Edge* e = startEdge; - do - { -#ifdef SHOW_ITERATIONS - n++; -#endif - Rational128 dot = e->target->dot(normal); - b3Assert(dot.compare(origDot) <= 0); -#ifdef DEBUG_CONVEX_HULL - b3Printf("Moving upwards, edge is "); - e->print(); - b3Printf(", dot is %f (%f %lld)\n", (float)dot.toScalar(), (float)optDot.toScalar(), shiftedDot); -#endif - if (dot.compare(optDot) > 0) - { - cmp = dot.compare(shiftedDot); - if (cmp >= 0) - { - intersection = e; - break; - } - optDot = dot; - e = e->reverse; - startEdge = e; - } - e = e->prev; - } while (e != startEdge); - - if (!intersection) - { - return true; - } - } - -#ifdef SHOW_ITERATIONS - b3Printf("Needed %d iterations to find initial intersection\n", n); -#endif - - if (cmp == 0) - { - Edge* e = intersection->reverse->next; -#ifdef SHOW_ITERATIONS - n = 0; -#endif - while (e->target->dot(normal).compare(shiftedDot) <= 0) - { -#ifdef SHOW_ITERATIONS - n++; -#endif - e = e->next; - if (e == intersection->reverse) - { - return true; - } -#ifdef DEBUG_CONVEX_HULL - b3Printf("Checking for outwards edge, current edge is "); - e->print(); - b3Printf("\n"); -#endif - } -#ifdef SHOW_ITERATIONS - b3Printf("Needed %d iterations to check for complete containment\n", n); -#endif - } - - Edge* firstIntersection = NULL; - Edge* faceEdge = NULL; - Edge* firstFaceEdge = NULL; - -#ifdef SHOW_ITERATIONS - int m = 0; -#endif - while (true) - { -#ifdef SHOW_ITERATIONS - m++; -#endif -#ifdef DEBUG_CONVEX_HULL - b3Printf("Intersecting edge is "); - intersection->print(); - b3Printf("\n"); -#endif - if (cmp == 0) - { - Edge* e = intersection->reverse->next; - startEdge = e; -#ifdef SHOW_ITERATIONS - n = 0; -#endif - while (true) - { -#ifdef SHOW_ITERATIONS - n++; -#endif - if (e->target->dot(normal).compare(shiftedDot) >= 0) - { - break; - } - intersection = e->reverse; - e = e->next; - if (e == startEdge) - { - return true; - } - } -#ifdef SHOW_ITERATIONS - b3Printf("Needed %d iterations to advance intersection\n", n); -#endif - } - -#ifdef DEBUG_CONVEX_HULL - b3Printf("Advanced intersecting edge to "); - intersection->print(); - b3Printf(", cmp = %d\n", cmp); -#endif - - if (!firstIntersection) - { - firstIntersection = intersection; - } - else if (intersection == firstIntersection) - { - break; - } - - int prevCmp = cmp; - Edge* prevIntersection = intersection; - Edge* prevFaceEdge = faceEdge; - - Edge* e = intersection->reverse; -#ifdef SHOW_ITERATIONS - n = 0; -#endif - while (true) - { -#ifdef SHOW_ITERATIONS - n++; -#endif - e = e->reverse->prev; - b3Assert(e != intersection->reverse); - cmp = e->target->dot(normal).compare(shiftedDot); -#ifdef DEBUG_CONVEX_HULL - b3Printf("Testing edge "); - e->print(); - b3Printf(" -> cmp = %d\n", cmp); -#endif - if (cmp >= 0) - { - intersection = e; - break; - } - } -#ifdef SHOW_ITERATIONS - b3Printf("Needed %d iterations to find other intersection of face\n", n); -#endif - - if (cmp > 0) - { - Vertex* removed = intersection->target; - e = intersection->reverse; - if (e->prev == e) - { - removed->edges = NULL; - } - else - { - removed->edges = e->prev; - e->prev->link(e->next); - e->link(e); - } -#ifdef DEBUG_CONVEX_HULL - b3Printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); -#endif - - Point64 n0 = intersection->face->getNormal(); - Point64 n1 = intersection->reverse->face->getNormal(); - btInt64_t m00 = face->dir0.dot(n0); - btInt64_t m01 = face->dir1.dot(n0); - btInt64_t m10 = face->dir0.dot(n1); - btInt64_t m11 = face->dir1.dot(n1); - btInt64_t r0 = (intersection->face->origin - shiftedOrigin).dot(n0); - btInt64_t r1 = (intersection->reverse->face->origin - shiftedOrigin).dot(n1); - Int128 det = Int128::mul(m00, m11) - Int128::mul(m01, m10); - b3Assert(det.getSign() != 0); - Vertex* v = vertexPool.newObject(); - v->point.index = -1; - v->copy = -1; - v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x, - Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y, - Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z, - det); - v->point.x = (btInt32_t)v->point128.xvalue(); - v->point.y = (btInt32_t)v->point128.yvalue(); - v->point.z = (btInt32_t)v->point128.zvalue(); - intersection->target = v; - v->edges = e; - - stack.push_back(v); - stack.push_back(removed); - stack.push_back(NULL); - } - - if (cmp || prevCmp || (prevIntersection->reverse->next->target != intersection->target)) - { - faceEdge = newEdgePair(prevIntersection->target, intersection->target); - if (prevCmp == 0) - { - faceEdge->link(prevIntersection->reverse->next); - } - if ((prevCmp == 0) || prevFaceEdge) - { - prevIntersection->reverse->link(faceEdge); - } - if (cmp == 0) - { - intersection->reverse->prev->link(faceEdge->reverse); - } - faceEdge->reverse->link(intersection->reverse); - } - else - { - faceEdge = prevIntersection->reverse->next; - } - - if (prevFaceEdge) - { - if (prevCmp > 0) - { - faceEdge->link(prevFaceEdge->reverse); - } - else if (faceEdge != prevFaceEdge->reverse) - { - stack.push_back(prevFaceEdge->target); - while (faceEdge->next != prevFaceEdge->reverse) - { - Vertex* removed = faceEdge->next->target; - removeEdgePair(faceEdge->next); - stack.push_back(removed); -#ifdef DEBUG_CONVEX_HULL - b3Printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); -#endif - } - stack.push_back(NULL); - } - } - faceEdge->face = face; - faceEdge->reverse->face = intersection->face; - - if (!firstFaceEdge) - { - firstFaceEdge = faceEdge; - } - } -#ifdef SHOW_ITERATIONS - b3Printf("Needed %d iterations to process all intersections\n", m); -#endif - - if (cmp > 0) - { - firstFaceEdge->reverse->target = faceEdge->target; - firstIntersection->reverse->link(firstFaceEdge); - firstFaceEdge->link(faceEdge->reverse); - } - else if (firstFaceEdge != faceEdge->reverse) - { - stack.push_back(faceEdge->target); - while (firstFaceEdge->next != faceEdge->reverse) - { - Vertex* removed = firstFaceEdge->next->target; - removeEdgePair(firstFaceEdge->next); - stack.push_back(removed); -#ifdef DEBUG_CONVEX_HULL - b3Printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); -#endif - } - stack.push_back(NULL); - } - - b3Assert(stack.size() > 0); - vertexList = stack[0]; - -#ifdef DEBUG_CONVEX_HULL - b3Printf("Removing part\n"); -#endif -#ifdef SHOW_ITERATIONS - n = 0; -#endif - int pos = 0; - while (pos < stack.size()) - { - int end = stack.size(); - while (pos < end) - { - Vertex* kept = stack[pos++]; -#ifdef DEBUG_CONVEX_HULL - kept->print(); -#endif - bool deeper = false; - Vertex* removed; - while ((removed = stack[pos++]) != NULL) - { -#ifdef SHOW_ITERATIONS - n++; -#endif - kept->receiveNearbyFaces(removed); - while (removed->edges) - { - if (!deeper) - { - deeper = true; - stack.push_back(kept); - } - stack.push_back(removed->edges->target); - removeEdgePair(removed->edges); - } - } - if (deeper) - { - stack.push_back(NULL); - } - } - } -#ifdef SHOW_ITERATIONS - b3Printf("Needed %d iterations to remove part\n", n); -#endif - - stack.resize(0); - face->origin = shiftedOrigin; - - return true; -} - -static int getVertexCopy(b3ConvexHullInternal::Vertex* vertex, b3AlignedObjectArray<b3ConvexHullInternal::Vertex*>& vertices) -{ - int index = vertex->copy; - if (index < 0) - { - index = vertices.size(); - vertex->copy = index; - vertices.push_back(vertex); -#ifdef DEBUG_CONVEX_HULL - b3Printf("Vertex %d gets index *%d\n", vertex->point.index, index); -#endif - } - return index; -} - -b3Scalar b3ConvexHullComputer::compute(const void* coords, bool doubleCoords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp) -{ - if (count <= 0) - { - vertices.clear(); - edges.clear(); - faces.clear(); - return 0; - } - - b3ConvexHullInternal hull; - hull.compute(coords, doubleCoords, stride, count); - - b3Scalar shift = 0; - if ((shrink > 0) && ((shift = hull.shrink(shrink, shrinkClamp)) < 0)) - { - vertices.clear(); - edges.clear(); - faces.clear(); - return shift; - } - - vertices.resize(0); - edges.resize(0); - faces.resize(0); - - b3AlignedObjectArray<b3ConvexHullInternal::Vertex*> oldVertices; - getVertexCopy(hull.vertexList, oldVertices); - int copied = 0; - while (copied < oldVertices.size()) - { - b3ConvexHullInternal::Vertex* v = oldVertices[copied]; - vertices.push_back(hull.getCoordinates(v)); - b3ConvexHullInternal::Edge* firstEdge = v->edges; - if (firstEdge) - { - int firstCopy = -1; - int prevCopy = -1; - b3ConvexHullInternal::Edge* e = firstEdge; - do - { - if (e->copy < 0) - { - int s = edges.size(); - edges.push_back(Edge()); - edges.push_back(Edge()); - Edge* c = &edges[s]; - Edge* r = &edges[s + 1]; - e->copy = s; - e->reverse->copy = s + 1; - c->reverse = 1; - r->reverse = -1; - c->targetVertex = getVertexCopy(e->target, oldVertices); - r->targetVertex = copied; -#ifdef DEBUG_CONVEX_HULL - b3Printf(" CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex()); -#endif - } - if (prevCopy >= 0) - { - edges[e->copy].next = prevCopy - e->copy; - } - else - { - firstCopy = e->copy; - } - prevCopy = e->copy; - e = e->next; - } while (e != firstEdge); - edges[firstCopy].next = prevCopy - firstCopy; - } - copied++; - } - - for (int i = 0; i < copied; i++) - { - b3ConvexHullInternal::Vertex* v = oldVertices[i]; - b3ConvexHullInternal::Edge* firstEdge = v->edges; - if (firstEdge) - { - b3ConvexHullInternal::Edge* e = firstEdge; - do - { - if (e->copy >= 0) - { -#ifdef DEBUG_CONVEX_HULL - b3Printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex()); -#endif - faces.push_back(e->copy); - b3ConvexHullInternal::Edge* f = e; - do - { -#ifdef DEBUG_CONVEX_HULL - b3Printf(" Face *%d\n", edges[f->copy].getTargetVertex()); -#endif - f->copy = -1; - f = f->reverse->prev; - } while (f != e); - } - e = e->next; - } while (e != firstEdge); - } - } - - return shift; -} diff --git a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h b/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h deleted file mode 100644 index 8852c5a524..0000000000 --- a/thirdparty/bullet/Bullet3Geometry/b3ConvexHullComputer.h +++ /dev/null @@ -1,99 +0,0 @@ -/* -Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net - -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 B3_CONVEX_HULL_COMPUTER_H -#define B3_CONVEX_HULL_COMPUTER_H - -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Common/b3AlignedObjectArray.h" - -/// Convex hull implementation based on Preparata and Hong -/// See http://code.google.com/p/bullet/issues/detail?id=275 -/// Ole Kniemeyer, MAXON Computer GmbH -class b3ConvexHullComputer -{ -private: - b3Scalar compute(const void* coords, bool doubleCoords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp); - -public: - class Edge - { - private: - int next; - int reverse; - int targetVertex; - - friend class b3ConvexHullComputer; - - public: - int getSourceVertex() const - { - return (this + reverse)->targetVertex; - } - - int getTargetVertex() const - { - return targetVertex; - } - - const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex - { - return this + next; - } - - const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face - { - return (this + reverse)->getNextEdgeOfVertex(); - } - - const Edge* getReverseEdge() const - { - return this + reverse; - } - }; - - // Vertices of the output hull - b3AlignedObjectArray<b3Vector3> vertices; - - // Edges of the output hull - b3AlignedObjectArray<Edge> edges; - - // Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons - b3AlignedObjectArray<int> faces; - - /* - Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes - between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken - by that amount (each face is moved by "shrink" length units towards the center along its normal). - If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" - is the minimum distance of a face to the center of the convex hull. - - The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large - that the resulting convex hull is empty. - - The output convex hull can be found in the member variables "vertices", "edges", "faces". - */ - b3Scalar compute(const float* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp) - { - return compute(coords, false, stride, count, shrink, shrinkClamp); - } - - // same as above, but double precision - b3Scalar compute(const double* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp) - { - return compute(coords, true, stride, count, shrink, shrinkClamp); - } -}; - -#endif //B3_CONVEX_HULL_COMPUTER_H diff --git a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp b/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp deleted file mode 100644 index c4041003ca..0000000000 --- a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.cpp +++ /dev/null @@ -1,174 +0,0 @@ -/* -Copyright (c) 2003-2006 Gino van den Bergen / 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. -*/ - -#include "b3GeometryUtil.h" - -/* - 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 b3BulletMathProbe(); - - void b3BulletMathProbe() {} -} - -bool b3GeometryUtil::isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar margin) -{ - int numbrushes = planeEquations.size(); - for (int i = 0; i < numbrushes; i++) - { - const b3Vector3& N1 = planeEquations[i]; - b3Scalar dist = b3Scalar(N1.dot(point)) + b3Scalar(N1[3]) - margin; - if (dist > b3Scalar(0.)) - { - return false; - } - } - return true; -} - -bool b3GeometryUtil::areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin) -{ - int numvertices = vertices.size(); - for (int i = 0; i < numvertices; i++) - { - const b3Vector3& N1 = vertices[i]; - b3Scalar dist = b3Scalar(planeNormal.dot(N1)) + b3Scalar(planeNormal[3]) - margin; - if (dist > b3Scalar(0.)) - { - return false; - } - } - return true; -} - -bool notExist(const b3Vector3& planeEquation, const b3AlignedObjectArray<b3Vector3>& planeEquations); - -bool notExist(const b3Vector3& planeEquation, const b3AlignedObjectArray<b3Vector3>& planeEquations) -{ - int numbrushes = planeEquations.size(); - for (int i = 0; i < numbrushes; i++) - { - const b3Vector3& N1 = planeEquations[i]; - if (planeEquation.dot(N1) > b3Scalar(0.999)) - { - return false; - } - } - return true; -} - -void b3GeometryUtil::getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut) -{ - const int numvertices = vertices.size(); - // brute force: - for (int i = 0; i < numvertices; i++) - { - const b3Vector3& N1 = vertices[i]; - - for (int j = i + 1; j < numvertices; j++) - { - const b3Vector3& N2 = vertices[j]; - - for (int k = j + 1; k < numvertices; k++) - { - const b3Vector3& N3 = vertices[k]; - - b3Vector3 planeEquation, edge0, edge1; - edge0 = N2 - N1; - edge1 = N3 - N1; - b3Scalar normalSign = b3Scalar(1.); - for (int ww = 0; ww < 2; ww++) - { - planeEquation = normalSign * edge0.cross(edge1); - if (planeEquation.length2() > b3Scalar(0.0001)) - { - planeEquation.normalize(); - if (notExist(planeEquation, planeEquationsOut)) - { - planeEquation[3] = -planeEquation.dot(N1); - - //check if inside, and replace supportingVertexOut if needed - if (areVerticesBehindPlane(planeEquation, vertices, b3Scalar(0.01))) - { - planeEquationsOut.push_back(planeEquation); - } - } - } - normalSign = b3Scalar(-1.); - } - } - } - } -} - -void b3GeometryUtil::getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations, b3AlignedObjectArray<b3Vector3>& verticesOut) -{ - const int numbrushes = planeEquations.size(); - // brute force: - for (int i = 0; i < numbrushes; i++) - { - const b3Vector3& N1 = planeEquations[i]; - - for (int j = i + 1; j < numbrushes; j++) - { - const b3Vector3& N2 = planeEquations[j]; - - for (int k = j + 1; k < numbrushes; k++) - { - const b3Vector3& N3 = planeEquations[k]; - - b3Vector3 n2n3; - n2n3 = N2.cross(N3); - b3Vector3 n3n1; - n3n1 = N3.cross(N1); - b3Vector3 n1n2; - n1n2 = N1.cross(N2); - - if ((n2n3.length2() > b3Scalar(0.0001)) && - (n3n1.length2() > b3Scalar(0.0001)) && - (n1n2.length2() > b3Scalar(0.0001))) - { - //point P out of 3 plane equations: - - // d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 ) - //P = ------------------------------------------------------------------------- - // N1 . ( N2 * N3 ) - - b3Scalar quotient = (N1.dot(n2n3)); - if (b3Fabs(quotient) > b3Scalar(0.000001)) - { - quotient = b3Scalar(-1.) / quotient; - n2n3 *= N1[3]; - n3n1 *= N2[3]; - n1n2 *= N3[3]; - b3Vector3 potentialVertex = n2n3; - potentialVertex += n3n1; - potentialVertex += n1n2; - potentialVertex *= quotient; - - //check if inside, and replace supportingVertexOut if needed - if (isPointInsidePlanes(planeEquations, potentialVertex, b3Scalar(0.01))) - { - verticesOut.push_back(potentialVertex); - } - } - } - } - } - } -} diff --git a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h b/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h deleted file mode 100644 index 967c8d67e9..0000000000 --- a/thirdparty/bullet/Bullet3Geometry/b3GeometryUtil.h +++ /dev/null @@ -1,36 +0,0 @@ -/* -Copyright (c) 2003-2006 Gino van den Bergen / 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 B3_GEOMETRY_UTIL_H -#define B3_GEOMETRY_UTIL_H - -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Common/b3AlignedObjectArray.h" - -///The b3GeometryUtil helper class provides a few methods to convert between plane equations and vertices. -class b3GeometryUtil -{ -public: - static void getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut); - - static void getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations, b3AlignedObjectArray<b3Vector3>& verticesOut); - - static bool isInside(const b3AlignedObjectArray<b3Vector3>& vertices, const b3Vector3& planeNormal, b3Scalar margin); - - static bool isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar margin); - - static bool areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin); -}; - -#endif //B3_GEOMETRY_UTIL_H diff --git a/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h b/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h deleted file mode 100644 index 8881c9a638..0000000000 --- a/thirdparty/bullet/Bullet3Geometry/b3GrahamScan2dConvexHull.h +++ /dev/null @@ -1,116 +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 B3_GRAHAM_SCAN_2D_CONVEX_HULL_H -#define B3_GRAHAM_SCAN_2D_CONVEX_HULL_H - -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Common/b3AlignedObjectArray.h" - -struct b3GrahamVector3 : public b3Vector3 -{ - b3GrahamVector3(const b3Vector3& org, int orgIndex) - : b3Vector3(org), - m_orgIndex(orgIndex) - { - } - b3Scalar m_angle; - int m_orgIndex; -}; - -struct b3AngleCompareFunc -{ - b3Vector3 m_anchor; - b3AngleCompareFunc(const b3Vector3& anchor) - : m_anchor(anchor) - { - } - bool operator()(const b3GrahamVector3& a, const b3GrahamVector3& b) const - { - if (a.m_angle != b.m_angle) - return a.m_angle < b.m_angle; - else - { - b3Scalar al = (a - m_anchor).length2(); - b3Scalar bl = (b - m_anchor).length2(); - if (al != bl) - return al < bl; - else - { - return a.m_orgIndex < b.m_orgIndex; - } - } - } -}; - -inline void b3GrahamScanConvexHull2D(b3AlignedObjectArray<b3GrahamVector3>& originalPoints, b3AlignedObjectArray<b3GrahamVector3>& hull, const b3Vector3& normalAxis) -{ - b3Vector3 axis0, axis1; - b3PlaneSpace1(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 b3Vector3& left = originalPoints[i]; - // const b3Vector3& right = originalPoints[0]; - b3Scalar projL = originalPoints[i].dot(axis0); - b3Scalar 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++) - { - b3Vector3 xvec = axis0; - b3Vector3 ar = originalPoints[i] - originalPoints[0]; - originalPoints[i].m_angle = b3Cross(xvec, ar).dot(normalAxis) / ar.length(); - } - - //step 2: sort all points, based on 'angle' with this anchor - b3AngleCompareFunc 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) - { - b3Vector3& a = hull[hull.size() - 2]; - b3Vector3& b = hull[hull.size() - 1]; - isConvex = b3Cross(a - b, a - originalPoints[i]).dot(normalAxis) > 0; - if (!isConvex) - hull.pop_back(); - else - hull.push_back(originalPoints[i]); - } - } -} - -#endif //B3_GRAHAM_SCAN_2D_CONVEX_HULL_H |