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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp')
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp540
1 files changed, 265 insertions, 275 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
index afe45e1d2d..13c0a343f1 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
@@ -10,31 +10,31 @@
//
#include <limits.h>
-#include <string.h> //memcpy
+#include <string.h> //memcpy
struct btSdfDataStream
{
const char* m_data;
int m_size;
-
+
int m_currentOffset;
-
+
btSdfDataStream(const char* data, int size)
- :m_data(data),
- m_size(size),
- m_currentOffset(0)
+ : m_data(data),
+ m_size(size),
+ m_currentOffset(0)
{
-
}
- template<class T> bool read(T& val)
+ template <class T>
+ bool read(T& val)
{
int bytes = sizeof(T);
- if (m_currentOffset+bytes<=m_size)
+ if (m_currentOffset + bytes <= m_size)
{
char* dest = (char*)&val;
- memcpy(dest,&m_data[m_currentOffset],bytes);
- m_currentOffset+=bytes;
+ memcpy(dest, &m_data[m_currentOffset], bytes);
+ m_currentOffset += bytes;
return true;
}
btAssert(0);
@@ -42,137 +42,133 @@ struct btSdfDataStream
}
};
-
bool btMiniSDF::load(const char* data, int size)
{
- int fileSize = -1;
+ int fileSize = -1;
- btSdfDataStream ds(data,size);
- {
- double buf[6];
- ds.read(buf);
- m_domain.m_min[0] = buf[0];
- m_domain.m_min[1] = buf[1];
- m_domain.m_min[2] = buf[2];
- m_domain.m_min[3] = 0;
- m_domain.m_max[0] = buf[3];
- m_domain.m_max[1] = buf[4];
- m_domain.m_max[2] = buf[5];
- m_domain.m_max[3] = 0;
- }
- {
- unsigned int buf2[3];
- ds.read(buf2);
- m_resolution[0] = buf2[0];
- m_resolution[1] = buf2[1];
- m_resolution[2] = buf2[2];
- }
- {
- double buf[3];
- ds.read(buf);
- m_cell_size[0] = buf[0];
- m_cell_size[1] = buf[1];
- m_cell_size[2] = buf[2];
- }
- {
- double buf[3];
- ds.read(buf);
- m_inv_cell_size[0] = buf[0];
- m_inv_cell_size[1] = buf[1];
- m_inv_cell_size[2] = buf[2];
- }
- {
- unsigned long long int cells;
- ds.read(cells);
- m_n_cells = cells;
- }
- {
- unsigned long long int fields;
- ds.read(fields);
- m_n_fields = fields;
- }
+ btSdfDataStream ds(data, size);
+ {
+ double buf[6];
+ ds.read(buf);
+ m_domain.m_min[0] = buf[0];
+ m_domain.m_min[1] = buf[1];
+ m_domain.m_min[2] = buf[2];
+ m_domain.m_min[3] = 0;
+ m_domain.m_max[0] = buf[3];
+ m_domain.m_max[1] = buf[4];
+ m_domain.m_max[2] = buf[5];
+ m_domain.m_max[3] = 0;
+ }
+ {
+ unsigned int buf2[3];
+ ds.read(buf2);
+ m_resolution[0] = buf2[0];
+ m_resolution[1] = buf2[1];
+ m_resolution[2] = buf2[2];
+ }
+ {
+ double buf[3];
+ ds.read(buf);
+ m_cell_size[0] = buf[0];
+ m_cell_size[1] = buf[1];
+ m_cell_size[2] = buf[2];
+ }
+ {
+ double buf[3];
+ ds.read(buf);
+ m_inv_cell_size[0] = buf[0];
+ m_inv_cell_size[1] = buf[1];
+ m_inv_cell_size[2] = buf[2];
+ }
+ {
+ unsigned long long int cells;
+ ds.read(cells);
+ m_n_cells = cells;
+ }
+ {
+ unsigned long long int fields;
+ ds.read(fields);
+ m_n_fields = fields;
+ }
-
- unsigned long long int nodes0;
- std::size_t n_nodes0;
- ds.read(nodes0);
- n_nodes0 = nodes0;
- if (n_nodes0 > 1024 * 1024 * 1024)
- {
- return m_isValid;
- }
- m_nodes.resize(n_nodes0);
- for (unsigned int i=0;i<n_nodes0;i++)
+ unsigned long long int nodes0;
+ std::size_t n_nodes0;
+ ds.read(nodes0);
+ n_nodes0 = nodes0;
+ if (n_nodes0 > 1024 * 1024 * 1024)
+ {
+ return m_isValid;
+ }
+ m_nodes.resize(n_nodes0);
+ for (unsigned int i = 0; i < n_nodes0; i++)
+ {
+ unsigned long long int n_nodes1;
+ ds.read(n_nodes1);
+ btAlignedObjectArray<double>& nodes = m_nodes[i];
+ nodes.resize(n_nodes1);
+ for (int j = 0; j < nodes.size(); j++)
{
- unsigned long long int n_nodes1;
- ds.read(n_nodes1);
- btAlignedObjectArray<double>& nodes = m_nodes[i];
- nodes.resize(n_nodes1);
- for ( int j=0;j<nodes.size();j++)
- {
- double& node = nodes[j];
- ds.read(node);
- }
+ double& node = nodes[j];
+ ds.read(node);
}
+ }
- unsigned long long int n_cells0;
- ds.read(n_cells0);
- m_cells.resize(n_cells0);
- for (int i=0;i<n_cells0;i++)
+ unsigned long long int n_cells0;
+ ds.read(n_cells0);
+ m_cells.resize(n_cells0);
+ for (int i = 0; i < n_cells0; i++)
+ {
+ unsigned long long int n_cells1;
+ btAlignedObjectArray<btCell32>& cells = m_cells[i];
+ ds.read(n_cells1);
+ cells.resize(n_cells1);
+ for (int j = 0; j < n_cells1; j++)
{
- unsigned long long int n_cells1;
- btAlignedObjectArray<btCell32 >& cells = m_cells[i];
- ds.read(n_cells1);
- cells.resize(n_cells1);
- for (int j=0;j<n_cells1;j++)
- {
- btCell32& cell = cells[j];
- ds.read(cell);
- }
+ btCell32& cell = cells[j];
+ ds.read(cell);
}
+ }
+
+ {
+ unsigned long long int n_cell_maps0;
+ ds.read(n_cell_maps0);
+ m_cell_map.resize(n_cell_maps0);
+ for (int i = 0; i < n_cell_maps0; i++)
{
- unsigned long long int n_cell_maps0;
- ds.read(n_cell_maps0);
-
- m_cell_map.resize(n_cell_maps0);
- for (int i=0;i<n_cell_maps0;i++)
+ unsigned long long int n_cell_maps1;
+ btAlignedObjectArray<unsigned int>& cell_maps = m_cell_map[i];
+ ds.read(n_cell_maps1);
+ cell_maps.resize(n_cell_maps1);
+ for (int j = 0; j < n_cell_maps1; j++)
{
- unsigned long long int n_cell_maps1;
- btAlignedObjectArray<unsigned int>& cell_maps = m_cell_map[i];
- ds.read(n_cell_maps1);
- cell_maps.resize(n_cell_maps1);
- for (int j=0;j<n_cell_maps1;j++)
- {
- unsigned int& cell_map = cell_maps[j];
- ds.read(cell_map);
- }
+ unsigned int& cell_map = cell_maps[j];
+ ds.read(cell_map);
}
}
+ }
- m_isValid = (ds.m_currentOffset == ds.m_size);
- return m_isValid;
+ m_isValid = (ds.m_currentOffset == ds.m_size);
+ return m_isValid;
}
-
-unsigned int btMiniSDF::multiToSingleIndex(btMultiIndex const & ijk) const
+unsigned int btMiniSDF::multiToSingleIndex(btMultiIndex const& ijk) const
{
return m_resolution[1] * m_resolution[0] * ijk.ijk[2] + m_resolution[0] * ijk.ijk[1] + ijk.ijk[0];
}
-
+
btAlignedBox3d
btMiniSDF::subdomain(btMultiIndex const& ijk) const
{
btAssert(m_isValid);
btVector3 tmp;
- tmp.m_floats[0] = m_cell_size[0]*(double)ijk.ijk[0];
- tmp.m_floats[1] = m_cell_size[1]*(double)ijk.ijk[1];
- tmp.m_floats[2] = m_cell_size[2]*(double)ijk.ijk[2];
-
+ tmp.m_floats[0] = m_cell_size[0] * (double)ijk.ijk[0];
+ tmp.m_floats[1] = m_cell_size[1] * (double)ijk.ijk[1];
+ tmp.m_floats[2] = m_cell_size[2] * (double)ijk.ijk[2];
btVector3 origin = m_domain.min() + tmp;
- btAlignedBox3d box = btAlignedBox3d (origin, origin + m_cell_size);
+ btAlignedBox3d box = btAlignedBox3d(origin, origin + m_cell_size);
return box;
}
@@ -181,8 +177,8 @@ btMiniSDF::singleToMultiIndex(unsigned int l) const
{
btAssert(m_isValid);
unsigned int n01 = m_resolution[0] * m_resolution[1];
- unsigned int k = l / n01;
- unsigned int temp = l % n01;
+ unsigned int k = l / n01;
+ unsigned int temp = l % n01;
unsigned int j = temp / m_resolution[0];
unsigned int i = temp % m_resolution[0];
btMultiIndex mi;
@@ -199,59 +195,57 @@ btMiniSDF::subdomain(unsigned int l) const
return subdomain(singleToMultiIndex(l));
}
-
btShapeMatrix
btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) const
{
btAssert(m_isValid);
btShapeMatrix res;
-
+
btScalar x = xi[0];
btScalar y = xi[1];
btScalar z = xi[2];
- btScalar x2 = x*x;
- btScalar y2 = y*y;
- btScalar z2 = z*z;
-
- btScalar _1mx = 1.0 - x;
- btScalar _1my = 1.0 - y;
- btScalar _1mz = 1.0 - z;
+ btScalar x2 = x * x;
+ btScalar y2 = y * y;
+ btScalar z2 = z * z;
- btScalar _1px = 1.0 + x;
- btScalar _1py = 1.0 + y;
- btScalar _1pz = 1.0 + z;
+ btScalar _1mx = 1.0 - x;
+ btScalar _1my = 1.0 - y;
+ btScalar _1mz = 1.0 - z;
- btScalar _1m3x = 1.0 - 3.0 * x;
- btScalar _1m3y = 1.0 - 3.0 * y;
- btScalar _1m3z = 1.0 - 3.0 * z;
+ btScalar _1px = 1.0 + x;
+ btScalar _1py = 1.0 + y;
+ btScalar _1pz = 1.0 + z;
- btScalar _1p3x = 1.0 + 3.0 * x;
- btScalar _1p3y = 1.0 + 3.0 * y;
- btScalar _1p3z = 1.0 + 3.0 * z;
+ btScalar _1m3x = 1.0 - 3.0 * x;
+ btScalar _1m3y = 1.0 - 3.0 * y;
+ btScalar _1m3z = 1.0 - 3.0 * z;
- btScalar _1mxt1my = _1mx * _1my;
- btScalar _1mxt1py = _1mx * _1py;
- btScalar _1pxt1my = _1px * _1my;
- btScalar _1pxt1py = _1px * _1py;
+ btScalar _1p3x = 1.0 + 3.0 * x;
+ btScalar _1p3y = 1.0 + 3.0 * y;
+ btScalar _1p3z = 1.0 + 3.0 * z;
- btScalar _1mxt1mz = _1mx * _1mz;
- btScalar _1mxt1pz = _1mx * _1pz;
- btScalar _1pxt1mz = _1px * _1mz;
- btScalar _1pxt1pz = _1px * _1pz;
+ btScalar _1mxt1my = _1mx * _1my;
+ btScalar _1mxt1py = _1mx * _1py;
+ btScalar _1pxt1my = _1px * _1my;
+ btScalar _1pxt1py = _1px * _1py;
- btScalar _1myt1mz = _1my * _1mz;
- btScalar _1myt1pz = _1my * _1pz;
- btScalar _1pyt1mz = _1py * _1mz;
- btScalar _1pyt1pz = _1py * _1pz;
+ btScalar _1mxt1mz = _1mx * _1mz;
+ btScalar _1mxt1pz = _1mx * _1pz;
+ btScalar _1pxt1mz = _1px * _1mz;
+ btScalar _1pxt1pz = _1px * _1pz;
- btScalar _1mx2 = 1.0 - x2;
- btScalar _1my2 = 1.0 - y2;
- btScalar _1mz2 = 1.0 - z2;
+ btScalar _1myt1mz = _1my * _1mz;
+ btScalar _1myt1pz = _1my * _1pz;
+ btScalar _1pyt1mz = _1py * _1mz;
+ btScalar _1pyt1pz = _1py * _1pz;
+ btScalar _1mx2 = 1.0 - x2;
+ btScalar _1my2 = 1.0 - y2;
+ btScalar _1mz2 = 1.0 - z2;
// Corner nodes.
- btScalar fac = 1.0 / 64.0 * (9.0 * (x2 + y2 + z2) - 19.0);
+ btScalar fac = 1.0 / 64.0 * (9.0 * (x2 + y2 + z2) - 19.0);
res[0] = fac * _1mxt1my * _1mz;
res[1] = fac * _1pxt1my * _1mz;
res[2] = fac * _1mxt1py * _1mz;
@@ -264,10 +258,10 @@ btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) cons
// Edge nodes.
fac = 9.0 / 64.0 * _1mx2;
- btScalar fact1m3x = fac * _1m3x;
- btScalar fact1p3x = fac * _1p3x;
- res[ 8] = fact1m3x * _1myt1mz;
- res[ 9] = fact1p3x * _1myt1mz;
+ btScalar fact1m3x = fac * _1m3x;
+ btScalar fact1p3x = fac * _1p3x;
+ res[8] = fact1m3x * _1myt1mz;
+ res[9] = fact1p3x * _1myt1mz;
res[10] = fact1m3x * _1myt1pz;
res[11] = fact1p3x * _1myt1pz;
res[12] = fact1m3x * _1pyt1mz;
@@ -276,8 +270,8 @@ btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) cons
res[15] = fact1p3x * _1pyt1pz;
fac = 9.0 / 64.0 * _1my2;
- btScalar fact1m3y = fac * _1m3y;
- btScalar fact1p3y = fac * _1p3y;
+ btScalar fact1m3y = fac * _1m3y;
+ btScalar fact1p3y = fac * _1p3y;
res[16] = fact1m3y * _1mxt1mz;
res[17] = fact1p3y * _1mxt1mz;
res[18] = fact1m3y * _1pxt1mz;
@@ -288,8 +282,8 @@ btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) cons
res[23] = fact1p3y * _1pxt1pz;
fac = 9.0 / 64.0 * _1mz2;
- btScalar fact1m3z = fac * _1m3z;
- btScalar fact1p3z = fac * _1p3z;
+ btScalar fact1m3z = fac * _1m3z;
+ btScalar fact1p3z = fac * _1p3z;
res[24] = fact1m3z * _1mxt1my;
res[25] = fact1p3z * _1mxt1my;
res[26] = fact1m3z * _1mxt1py;
@@ -309,7 +303,7 @@ btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) cons
btScalar _18x = 18.0 * x;
btScalar _18y = 18.0 * y;
btScalar _18z = 18.0 * z;
-
+
btScalar _3m9x2 = 3.0 - 9.0 * x2;
btScalar _3m9y2 = 3.0 - 9.0 * y2;
btScalar _3m9z2 = 3.0 - 9.0 * z2;
@@ -325,132 +319,128 @@ btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) cons
btScalar _18zm9tx2py2p3z2m19 = _18z - _9tx2py2p3z2m19;
btScalar _18zp9tx2py2p3z2m19 = _18z + _9tx2py2p3z2m19;
- dN(0,0) =_18xm9t3x2py2pz2m19 * _1myt1mz;
- dN(0,1) =_1mxt1mz * _18ym9tx2p3y2pz2m19;
- dN(0,2) =_1mxt1my * _18zm9tx2py2p3z2m19;
- dN(1,0) =_18xp9t3x2py2pz2m19 * _1myt1mz;
- dN(1,1) =_1pxt1mz * _18ym9tx2p3y2pz2m19;
- dN(1,2) =_1pxt1my * _18zm9tx2py2p3z2m19;
- dN(2,0) =_18xm9t3x2py2pz2m19 * _1pyt1mz;
- dN(2,1) =_1mxt1mz * _18yp9tx2p3y2pz2m19;
- dN(2,2) =_1mxt1py * _18zm9tx2py2p3z2m19;
- dN(3,0) =_18xp9t3x2py2pz2m19 * _1pyt1mz;
- dN(3,1) =_1pxt1mz * _18yp9tx2p3y2pz2m19;
- dN(3,2) =_1pxt1py * _18zm9tx2py2p3z2m19;
- dN(4,0) =_18xm9t3x2py2pz2m19 * _1myt1pz;
- dN(4,1) =_1mxt1pz * _18ym9tx2p3y2pz2m19;
- dN(4,2) =_1mxt1my * _18zp9tx2py2p3z2m19;
- dN(5,0) =_18xp9t3x2py2pz2m19 * _1myt1pz;
- dN(5,1) =_1pxt1pz * _18ym9tx2p3y2pz2m19;
- dN(5,2) =_1pxt1my * _18zp9tx2py2p3z2m19;
- dN(6,0) =_18xm9t3x2py2pz2m19 * _1pyt1pz;
- dN(6,1) =_1mxt1pz * _18yp9tx2p3y2pz2m19;
- dN(6,2) =_1mxt1py * _18zp9tx2py2p3z2m19;
- dN(7,0) =_18xp9t3x2py2pz2m19 * _1pyt1pz;
- dN(7,1) =_1pxt1pz * _18yp9tx2p3y2pz2m19;
- dN(7,2) =_1pxt1py * _18zp9tx2py2p3z2m19;
+ dN(0, 0) = _18xm9t3x2py2pz2m19 * _1myt1mz;
+ dN(0, 1) = _1mxt1mz * _18ym9tx2p3y2pz2m19;
+ dN(0, 2) = _1mxt1my * _18zm9tx2py2p3z2m19;
+ dN(1, 0) = _18xp9t3x2py2pz2m19 * _1myt1mz;
+ dN(1, 1) = _1pxt1mz * _18ym9tx2p3y2pz2m19;
+ dN(1, 2) = _1pxt1my * _18zm9tx2py2p3z2m19;
+ dN(2, 0) = _18xm9t3x2py2pz2m19 * _1pyt1mz;
+ dN(2, 1) = _1mxt1mz * _18yp9tx2p3y2pz2m19;
+ dN(2, 2) = _1mxt1py * _18zm9tx2py2p3z2m19;
+ dN(3, 0) = _18xp9t3x2py2pz2m19 * _1pyt1mz;
+ dN(3, 1) = _1pxt1mz * _18yp9tx2p3y2pz2m19;
+ dN(3, 2) = _1pxt1py * _18zm9tx2py2p3z2m19;
+ dN(4, 0) = _18xm9t3x2py2pz2m19 * _1myt1pz;
+ dN(4, 1) = _1mxt1pz * _18ym9tx2p3y2pz2m19;
+ dN(4, 2) = _1mxt1my * _18zp9tx2py2p3z2m19;
+ dN(5, 0) = _18xp9t3x2py2pz2m19 * _1myt1pz;
+ dN(5, 1) = _1pxt1pz * _18ym9tx2p3y2pz2m19;
+ dN(5, 2) = _1pxt1my * _18zp9tx2py2p3z2m19;
+ dN(6, 0) = _18xm9t3x2py2pz2m19 * _1pyt1pz;
+ dN(6, 1) = _1mxt1pz * _18yp9tx2p3y2pz2m19;
+ dN(6, 2) = _1mxt1py * _18zp9tx2py2p3z2m19;
+ dN(7, 0) = _18xp9t3x2py2pz2m19 * _1pyt1pz;
+ dN(7, 1) = _1pxt1pz * _18yp9tx2p3y2pz2m19;
+ dN(7, 2) = _1pxt1py * _18zp9tx2py2p3z2m19;
dN.topRowsDivide(8, 64.0);
btScalar _m3m9x2m2x = -_3m9x2 - _2x;
- btScalar _p3m9x2m2x = _3m9x2 - _2x;
+ btScalar _p3m9x2m2x = _3m9x2 - _2x;
btScalar _1mx2t1m3x = _1mx2 * _1m3x;
btScalar _1mx2t1p3x = _1mx2 * _1p3x;
- dN( 8,0) = _m3m9x2m2x * _1myt1mz,
- dN( 8,1) = -_1mx2t1m3x * _1mz,
- dN( 8,2) = -_1mx2t1m3x * _1my;
- dN( 9,0) = _p3m9x2m2x * _1myt1mz,
- dN( 9,1) = -_1mx2t1p3x * _1mz,
- dN( 9,2) = -_1mx2t1p3x * _1my;
- dN(10,0) = _m3m9x2m2x * _1myt1pz,
- dN(10,1) = -_1mx2t1m3x * _1pz,
- dN(10,2) = _1mx2t1m3x * _1my;
- dN(11,0) = _p3m9x2m2x * _1myt1pz,
- dN(11,1) = -_1mx2t1p3x * _1pz,
- dN(11,2) = _1mx2t1p3x * _1my;
- dN(12,0) = _m3m9x2m2x * _1pyt1mz,
- dN(12,1) = _1mx2t1m3x * _1mz,
- dN(12,2) = -_1mx2t1m3x * _1py;
- dN(13,0) = _p3m9x2m2x * _1pyt1mz,
- dN(13,1) = _1mx2t1p3x * _1mz,
- dN(13,2) = -_1mx2t1p3x * _1py;
- dN(14,0) = _m3m9x2m2x * _1pyt1pz,
- dN(14,1) = _1mx2t1m3x * _1pz,
- dN(14,2) = _1mx2t1m3x * _1py;
- dN(15,0) = _p3m9x2m2x * _1pyt1pz,
- dN(15,1) = _1mx2t1p3x * _1pz,
- dN(15,2) = _1mx2t1p3x * _1py;
+ dN(8, 0) = _m3m9x2m2x * _1myt1mz,
+ dN(8, 1) = -_1mx2t1m3x * _1mz,
+ dN(8, 2) = -_1mx2t1m3x * _1my;
+ dN(9, 0) = _p3m9x2m2x * _1myt1mz,
+ dN(9, 1) = -_1mx2t1p3x * _1mz,
+ dN(9, 2) = -_1mx2t1p3x * _1my;
+ dN(10, 0) = _m3m9x2m2x * _1myt1pz,
+ dN(10, 1) = -_1mx2t1m3x * _1pz,
+ dN(10, 2) = _1mx2t1m3x * _1my;
+ dN(11, 0) = _p3m9x2m2x * _1myt1pz,
+ dN(11, 1) = -_1mx2t1p3x * _1pz,
+ dN(11, 2) = _1mx2t1p3x * _1my;
+ dN(12, 0) = _m3m9x2m2x * _1pyt1mz,
+ dN(12, 1) = _1mx2t1m3x * _1mz,
+ dN(12, 2) = -_1mx2t1m3x * _1py;
+ dN(13, 0) = _p3m9x2m2x * _1pyt1mz,
+ dN(13, 1) = _1mx2t1p3x * _1mz,
+ dN(13, 2) = -_1mx2t1p3x * _1py;
+ dN(14, 0) = _m3m9x2m2x * _1pyt1pz,
+ dN(14, 1) = _1mx2t1m3x * _1pz,
+ dN(14, 2) = _1mx2t1m3x * _1py;
+ dN(15, 0) = _p3m9x2m2x * _1pyt1pz,
+ dN(15, 1) = _1mx2t1p3x * _1pz,
+ dN(15, 2) = _1mx2t1p3x * _1py;
btScalar _m3m9y2m2y = -_3m9y2 - _2y;
- btScalar _p3m9y2m2y = _3m9y2 - _2y;
+ btScalar _p3m9y2m2y = _3m9y2 - _2y;
btScalar _1my2t1m3y = _1my2 * _1m3y;
btScalar _1my2t1p3y = _1my2 * _1p3y;
- dN(16,0) = -_1my2t1m3y * _1mz,
- dN(16,1) = _m3m9y2m2y * _1mxt1mz,
- dN(16,2) = -_1my2t1m3y * _1mx;
- dN(17,0) = -_1my2t1p3y * _1mz,
- dN(17,1) = _p3m9y2m2y * _1mxt1mz,
- dN(17,2) = -_1my2t1p3y * _1mx;
- dN(18,0) = _1my2t1m3y * _1mz,
- dN(18,1) = _m3m9y2m2y * _1pxt1mz,
- dN(18,2) = -_1my2t1m3y * _1px;
- dN(19,0) = _1my2t1p3y * _1mz,
- dN(19,1) = _p3m9y2m2y * _1pxt1mz,
- dN(19,2) = -_1my2t1p3y * _1px;
- dN(20,0) = -_1my2t1m3y * _1pz,
- dN(20,1) = _m3m9y2m2y * _1mxt1pz,
- dN(20,2) = _1my2t1m3y * _1mx;
- dN(21,0) = -_1my2t1p3y * _1pz,
- dN(21,1) = _p3m9y2m2y * _1mxt1pz,
- dN(21,2) = _1my2t1p3y * _1mx;
- dN(22,0) = _1my2t1m3y * _1pz,
- dN(22,1) = _m3m9y2m2y * _1pxt1pz,
- dN(22,2) = _1my2t1m3y * _1px;
- dN(23,0) = _1my2t1p3y * _1pz,
- dN(23,1) = _p3m9y2m2y * _1pxt1pz,
- dN(23,2) = _1my2t1p3y * _1px;
-
+ dN(16, 0) = -_1my2t1m3y * _1mz,
+ dN(16, 1) = _m3m9y2m2y * _1mxt1mz,
+ dN(16, 2) = -_1my2t1m3y * _1mx;
+ dN(17, 0) = -_1my2t1p3y * _1mz,
+ dN(17, 1) = _p3m9y2m2y * _1mxt1mz,
+ dN(17, 2) = -_1my2t1p3y * _1mx;
+ dN(18, 0) = _1my2t1m3y * _1mz,
+ dN(18, 1) = _m3m9y2m2y * _1pxt1mz,
+ dN(18, 2) = -_1my2t1m3y * _1px;
+ dN(19, 0) = _1my2t1p3y * _1mz,
+ dN(19, 1) = _p3m9y2m2y * _1pxt1mz,
+ dN(19, 2) = -_1my2t1p3y * _1px;
+ dN(20, 0) = -_1my2t1m3y * _1pz,
+ dN(20, 1) = _m3m9y2m2y * _1mxt1pz,
+ dN(20, 2) = _1my2t1m3y * _1mx;
+ dN(21, 0) = -_1my2t1p3y * _1pz,
+ dN(21, 1) = _p3m9y2m2y * _1mxt1pz,
+ dN(21, 2) = _1my2t1p3y * _1mx;
+ dN(22, 0) = _1my2t1m3y * _1pz,
+ dN(22, 1) = _m3m9y2m2y * _1pxt1pz,
+ dN(22, 2) = _1my2t1m3y * _1px;
+ dN(23, 0) = _1my2t1p3y * _1pz,
+ dN(23, 1) = _p3m9y2m2y * _1pxt1pz,
+ dN(23, 2) = _1my2t1p3y * _1px;
btScalar _m3m9z2m2z = -_3m9z2 - _2z;
- btScalar _p3m9z2m2z = _3m9z2 - _2z;
+ btScalar _p3m9z2m2z = _3m9z2 - _2z;
btScalar _1mz2t1m3z = _1mz2 * _1m3z;
btScalar _1mz2t1p3z = _1mz2 * _1p3z;
- dN(24,0) = -_1mz2t1m3z * _1my,
- dN(24,1) = -_1mz2t1m3z * _1mx,
- dN(24,2) = _m3m9z2m2z * _1mxt1my;
- dN(25,0) = -_1mz2t1p3z * _1my,
- dN(25,1) = -_1mz2t1p3z * _1mx,
- dN(25,2) = _p3m9z2m2z * _1mxt1my;
- dN(26,0) = -_1mz2t1m3z * _1py,
- dN(26,1) = _1mz2t1m3z * _1mx,
- dN(26,2) = _m3m9z2m2z * _1mxt1py;
- dN(27,0) = -_1mz2t1p3z * _1py,
- dN(27,1) = _1mz2t1p3z * _1mx,
- dN(27,2) = _p3m9z2m2z * _1mxt1py;
- dN(28,0) = _1mz2t1m3z * _1my,
- dN(28,1) = -_1mz2t1m3z * _1px,
- dN(28,2) = _m3m9z2m2z * _1pxt1my;
- dN(29,0) = _1mz2t1p3z * _1my,
- dN(29,1) = -_1mz2t1p3z * _1px,
- dN(29,2) = _p3m9z2m2z * _1pxt1my;
- dN(30,0) = _1mz2t1m3z * _1py,
- dN(30,1) = _1mz2t1m3z * _1px,
- dN(30,2) = _m3m9z2m2z * _1pxt1py;
- dN(31,0) = _1mz2t1p3z * _1py,
- dN(31,1) = _1mz2t1p3z * _1px,
- dN(31,2) = _p3m9z2m2z * _1pxt1py;
+ dN(24, 0) = -_1mz2t1m3z * _1my,
+ dN(24, 1) = -_1mz2t1m3z * _1mx,
+ dN(24, 2) = _m3m9z2m2z * _1mxt1my;
+ dN(25, 0) = -_1mz2t1p3z * _1my,
+ dN(25, 1) = -_1mz2t1p3z * _1mx,
+ dN(25, 2) = _p3m9z2m2z * _1mxt1my;
+ dN(26, 0) = -_1mz2t1m3z * _1py,
+ dN(26, 1) = _1mz2t1m3z * _1mx,
+ dN(26, 2) = _m3m9z2m2z * _1mxt1py;
+ dN(27, 0) = -_1mz2t1p3z * _1py,
+ dN(27, 1) = _1mz2t1p3z * _1mx,
+ dN(27, 2) = _p3m9z2m2z * _1mxt1py;
+ dN(28, 0) = _1mz2t1m3z * _1my,
+ dN(28, 1) = -_1mz2t1m3z * _1px,
+ dN(28, 2) = _m3m9z2m2z * _1pxt1my;
+ dN(29, 0) = _1mz2t1p3z * _1my,
+ dN(29, 1) = -_1mz2t1p3z * _1px,
+ dN(29, 2) = _p3m9z2m2z * _1pxt1my;
+ dN(30, 0) = _1mz2t1m3z * _1py,
+ dN(30, 1) = _1mz2t1m3z * _1px,
+ dN(30, 2) = _m3m9z2m2z * _1pxt1py;
+ dN(31, 0) = _1mz2t1p3z * _1py,
+ dN(31, 1) = _1mz2t1p3z * _1px,
+ dN(31, 2) = _p3m9z2m2z * _1pxt1py;
dN.bottomRowsMul(32u - 8u, 9.0 / 64.0);
-
}
return res;
}
-
-
bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const& x,
- btVector3* gradient) const
+ btVector3* gradient) const
{
btAssert(m_isValid);
if (!m_isValid)
@@ -459,15 +449,15 @@ bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const
if (!m_domain.contains(x))
return false;
- btVector3 tmpmi = ((x - m_domain.min())*(m_inv_cell_size));//.cast<unsigned int>().eval();
- unsigned int mi[3] = {(unsigned int )tmpmi[0],(unsigned int )tmpmi[1],(unsigned int )tmpmi[2]};
+ btVector3 tmpmi = ((x - m_domain.min()) * (m_inv_cell_size)); //.cast<unsigned int>().eval();
+ unsigned int mi[3] = {(unsigned int)tmpmi[0], (unsigned int)tmpmi[1], (unsigned int)tmpmi[2]};
if (mi[0] >= m_resolution[0])
- mi[0] = m_resolution[0]-1;
+ mi[0] = m_resolution[0] - 1;
if (mi[1] >= m_resolution[1])
- mi[1] = m_resolution[1]-1;
+ mi[1] = m_resolution[1] - 1;
if (mi[2] >= m_resolution[2])
- mi[2] = m_resolution[2]-1;
- btMultiIndex mui;
+ mi[2] = m_resolution[2] - 1;
+ btMultiIndex mui;
mui.ijk[0] = mi[0];
mui.ijk[1] = mi[1];
mui.ijk[2] = mi[2];
@@ -478,12 +468,12 @@ bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const
btAlignedBox3d sd = subdomain(i);
i = i_;
- btVector3 d = sd.m_max-sd.m_min;//.diagonal().eval();
+ btVector3 d = sd.m_max - sd.m_min; //.diagonal().eval();
btVector3 denom = (sd.max() - sd.min());
- btVector3 c0 = btVector3(2.0,2.0,2.0)/denom;
- btVector3 c1 = (sd.max() + sd.min())/denom;
- btVector3 xi = (c0*x - c1);
+ btVector3 c0 = btVector3(2.0, 2.0, 2.0) / denom;
+ btVector3 c1 = (sd.max() + sd.min()) / denom;
+ btVector3 xi = (c0 * x - c1);
btCell32 const& cell = m_cells[field_id][i];
if (!gradient)
@@ -497,7 +487,8 @@ bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const
double c = m_nodes[field_id][v];
if (c == DBL_MAX)
{
- return false;;
+ return false;
+ ;
}
phi += c * N[j];
}
@@ -529,4 +520,3 @@ bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const
dist = phi;
return true;
}
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-08 12:05:14 +0000