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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp150
1 files changed, 66 insertions, 84 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index a7a9598406..703de45922 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -13,7 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-#if defined (_WIN32) || defined (__i386__)
+#if defined(_WIN32) || defined(__i386__)
#define BT_USE_SSE_IN_API
#endif
@@ -25,14 +25,14 @@ subject to the following restrictions:
#include "btConvexPolyhedron.h"
#include "LinearMath/btConvexHullComputer.h"
-btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
+btConvexHullShape ::btConvexHullShape(const btScalar* points, int numPoints, int stride) : btPolyhedralConvexAabbCachingShape()
{
m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
m_unscaledPoints.resize(numPoints);
unsigned char* pointsAddress = (unsigned char*)points;
- for (int i=0;i<numPoints;i++)
+ for (int i = 0; i < numPoints; i++)
{
btScalar* point = (btScalar*)pointsAddress;
m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]);
@@ -40,11 +40,8 @@ btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int
}
recalcLocalAabb();
-
}
-
-
void btConvexHullShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
@@ -56,90 +53,81 @@ void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAa
m_unscaledPoints.push_back(point);
if (recalculateLocalAabb)
recalcLocalAabb();
-
}
-btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
- btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+ btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
- // Here we take advantage of dot(a, b*c) = dot(a*b, c). Note: This is true mathematically, but not numerically.
- if( 0 < m_unscaledPoints.size() )
- {
- btVector3 scaled = vec * m_localScaling;
- int index = (int) scaled.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints
- return m_unscaledPoints[index] * m_localScaling;
- }
+ // Here we take advantage of dot(a, b*c) = dot(a*b, c). Note: This is true mathematically, but not numerically.
+ if (0 < m_unscaledPoints.size())
+ {
+ btVector3 scaled = vec * m_localScaling;
+ int index = (int)scaled.maxDot(&m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints
+ return m_unscaledPoints[index] * m_localScaling;
+ }
- return supVec;
+ return supVec;
}
-void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
btScalar newDot;
//use 'w' component of supportVerticesOut?
{
- for (int i=0;i<numVectors;i++)
+ for (int i = 0; i < numVectors; i++)
{
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
- for (int j=0;j<numVectors;j++)
- {
- btVector3 vec = vectors[j] * m_localScaling; // dot(a*b,c) = dot(a,b*c)
- if( 0 < m_unscaledPoints.size() )
- {
- int i = (int) vec.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
- supportVerticesOut[j] = getScaledPoint(i);
- supportVerticesOut[j][3] = newDot;
- }
- else
- supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
- }
-
-
-
+ for (int j = 0; j < numVectors; j++)
+ {
+ btVector3 vec = vectors[j] * m_localScaling; // dot(a*b,c) = dot(a,b*c)
+ if (0 < m_unscaledPoints.size())
+ {
+ int i = (int)vec.maxDot(&m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
+ supportVerticesOut[j] = getScaledPoint(i);
+ supportVerticesOut[j][3] = newDot;
+ }
+ else
+ supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
+ }
}
-
-
-btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
- if ( getMargin()!=btScalar(0.) )
+ if (getMargin() != btScalar(0.))
{
btVector3 vecnorm = vec;
- if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+ if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
{
- vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
- }
+ vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+ }
vecnorm.normalize();
- supVertex+= getMargin() * vecnorm;
+ supVertex += getMargin() * vecnorm;
}
return supVertex;
}
-
void btConvexHullShape::optimizeConvexHull()
{
btConvexHullComputer conv;
- conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3),m_unscaledPoints.size(),0.f,0.f);
+ conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3), m_unscaledPoints.size(), 0.f, 0.f);
int numVerts = conv.vertices.size();
m_unscaledPoints.resize(0);
- for (int i=0;i<numVerts;i++)
- {
- m_unscaledPoints.push_back(conv.vertices[i]);
- }
+ for (int i = 0; i < numVerts; i++)
+ {
+ m_unscaledPoints.push_back(conv.vertices[i]);
+ }
}
-
-
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
-int btConvexHullShape::getNumVertices() const
+int btConvexHullShape::getNumVertices() const
{
return m_unscaledPoints.size();
}
@@ -149,67 +137,65 @@ int btConvexHullShape::getNumEdges() const
return m_unscaledPoints.size();
}
-void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
+void btConvexHullShape::getEdge(int i, btVector3& pa, btVector3& pb) const
{
-
- int index0 = i%m_unscaledPoints.size();
- int index1 = (i+1)%m_unscaledPoints.size();
+ int index0 = i % m_unscaledPoints.size();
+ int index1 = (i + 1) % m_unscaledPoints.size();
pa = getScaledPoint(index0);
pb = getScaledPoint(index1);
}
-void btConvexHullShape::getVertex(int i,btVector3& vtx) const
+void btConvexHullShape::getVertex(int i, btVector3& vtx) const
{
vtx = getScaledPoint(i);
}
-int btConvexHullShape::getNumPlanes() const
+int btConvexHullShape::getNumPlanes() const
{
return 0;
}
-void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
+void btConvexHullShape::getPlane(btVector3&, btVector3&, int) const
{
-
btAssert(0);
}
//not yet
-bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
+bool btConvexHullShape::isInside(const btVector3&, btScalar) const
{
btAssert(0);
return false;
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
//int szc = sizeof(btConvexHullShapeData);
- btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer;
+ btConvexHullShapeData* shapeData = (btConvexHullShapeData*)dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
int numElem = m_unscaledPoints.size();
shapeData->m_numUnscaledPoints = numElem;
#ifdef BT_USE_DOUBLE_PRECISION
shapeData->m_unscaledPointsFloatPtr = 0;
- shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0;
+ shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]) : 0;
#else
- shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0;
+ shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]) : 0;
shapeData->m_unscaledPointsDoublePtr = 0;
#endif
-
+
if (numElem)
{
int sz = sizeof(btVector3Data);
- // int sz2 = sizeof(btVector3DoubleData);
- // int sz3 = sizeof(btVector3FloatData);
- btChunk* chunk = serializer->allocate(sz,numElem);
+ // int sz2 = sizeof(btVector3DoubleData);
+ // int sz3 = sizeof(btVector3FloatData);
+ btChunk* chunk = serializer->allocate(sz, numElem);
btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
m_unscaledPoints[i].serialize(*memPtr);
}
- serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
+ serializer->finalizeChunk(chunk, btVector3DataName, BT_ARRAY_CODE, (void*)&m_unscaledPoints[0]);
}
// Fill padding with zeros to appease msan.
@@ -218,45 +204,41 @@ const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali
return "btConvexHullShapeData";
}
-void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
+void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const
{
#if 1
minProj = FLT_MAX;
maxProj = -FLT_MAX;
int numVerts = m_unscaledPoints.size();
- for(int i=0;i<numVerts;i++)
+ for (int i = 0; i < numVerts; i++)
{
btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
btVector3 pt = trans * vtx;
btScalar dp = pt.dot(dir);
- if(dp < minProj)
+ if (dp < minProj)
{
minProj = dp;
witnesPtMin = pt;
}
- if(dp > maxProj)
+ if (dp > maxProj)
{
maxProj = dp;
- witnesPtMax=pt;
+ witnesPtMax = pt;
}
}
#else
- btVector3 localAxis = dir*trans.getBasis();
- witnesPtMin = trans(localGetSupportingVertex(localAxis));
+ btVector3 localAxis = dir * trans.getBasis();
+ witnesPtMin = trans(localGetSupportingVertex(localAxis));
witnesPtMax = trans(localGetSupportingVertex(-localAxis));
minProj = witnesPtMin.dot(dir);
maxProj = witnesPtMax.dot(dir);
#endif
- if(minProj>maxProj)
+ if (minProj > maxProj)
{
- btSwap(minProj,maxProj);
- btSwap(witnesPtMin,witnesPtMax);
+ btSwap(minProj, maxProj);
+ btSwap(witnesPtMin, witnesPtMax);
}
-
-
}
-
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-07 20:51:18 +0000