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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp | 129 |
1 files changed, 0 insertions, 129 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp deleted file mode 100644 index f00a440fa3..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp +++ /dev/null @@ -1,129 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans 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. -*/ - -#include "btConvexPointCloudShape.h" -#include "BulletCollision/CollisionShapes/btCollisionMargin.h" - -#include "LinearMath/btQuaternion.h" - -void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling) -{ - m_localScaling = scaling; - recalcLocalAabb(); -} - -#ifndef __SPU__ -btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const -{ - btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.)); - btScalar maxDot = btScalar(-BT_LARGE_FLOAT); - - btVector3 vec = vec0; - btScalar lenSqr = vec.length2(); - if (lenSqr < btScalar(0.0001)) - { - vec.setValue(1, 0, 0); - } - else - { - btScalar rlen = btScalar(1.) / btSqrt(lenSqr); - vec *= rlen; - } - - if (m_numPoints > 0) - { - // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically. - // btVector3 scaled = vec * m_localScaling; - int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints - return getScaledPoint(index); - } - - return supVec; -} - -void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const -{ - for (int j = 0; j < numVectors; j++) - { - const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c) - btScalar maxDot; - int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot); - supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT); - if (0 <= index) - { - //WARNING: don't swap next lines, the w component would get overwritten! - supportVerticesOut[j] = getScaledPoint(index); - supportVerticesOut[j][3] = maxDot; - } - } -} - -btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec) const -{ - btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); - - if (getMargin() != btScalar(0.)) - { - btVector3 vecnorm = vec; - if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON)) - { - vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.)); - } - vecnorm.normalize(); - supVertex += getMargin() * vecnorm; - } - return supVertex; -} - -#endif - -//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 btConvexPointCloudShape::getNumVertices() const -{ - return m_numPoints; -} - -int btConvexPointCloudShape::getNumEdges() const -{ - return 0; -} - -void btConvexPointCloudShape::getEdge(int i, btVector3& pa, btVector3& pb) const -{ - btAssert(0); -} - -void btConvexPointCloudShape::getVertex(int i, btVector3& vtx) const -{ - vtx = m_unscaledPoints[i] * m_localScaling; -} - -int btConvexPointCloudShape::getNumPlanes() const -{ - return 0; -} - -void btConvexPointCloudShape::getPlane(btVector3&, btVector3&, int) const -{ - btAssert(0); -} - -//not yet -bool btConvexPointCloudShape::isInside(const btVector3&, btScalar) const -{ - btAssert(0); - return false; -} |