diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h | 37 |
1 files changed, 15 insertions, 22 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h index 3de90e4f8a..b60fd102fd 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h @@ -5,7 +5,6 @@ #include "LinearMath/btAabbUtil2.h" #include "LinearMath/btAlignedObjectArray.h" - struct btMultiIndex { unsigned int ijk[3]; @@ -25,7 +24,6 @@ struct btAlignedBox3d { return m_max; } - bool contains(const btVector3& x) const { @@ -33,8 +31,8 @@ struct btAlignedBox3d } btAlignedBox3d(const btVector3& mn, const btVector3& mx) - :m_min(mn), - m_max(mx) + : m_min(mn), + m_max(mx) { } @@ -47,39 +45,38 @@ struct btShapeMatrix { double m_vec[32]; - inline double& operator[](int i) + inline double& operator[](int i) { return m_vec[i]; } - inline const double& operator[](int i) const + inline const double& operator[](int i) const { return m_vec[i]; } - }; struct btShapeGradients { - btVector3 m_vec[32]; + btVector3 m_vec[32]; void topRowsDivide(int row, double denom) { - for (int i=0;i<row;i++) + for (int i = 0; i < row; i++) { m_vec[i] /= denom; } } - + void bottomRowsMul(int row, double val) { - for (int i=32-row;i<32;i++) + for (int i = 32 - row; i < 32; i++) { m_vec[i] *= val; } } - - inline btScalar& operator()(int i, int j) + + inline btScalar& operator()(int i, int j) { return m_vec[i][j]; } @@ -92,7 +89,6 @@ struct btCell32 struct btMiniSDF { - btAlignedBox3d m_domain; unsigned int m_resolution[3]; btVector3 m_cell_size; @@ -101,13 +97,12 @@ struct btMiniSDF std::size_t m_n_fields; bool m_isValid; - btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes; - btAlignedObjectArray<btAlignedObjectArray<btCell32 > > m_cells; + btAlignedObjectArray<btAlignedObjectArray<btCell32> > m_cells; btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map; btMiniSDF() - :m_isValid(false) + : m_isValid(false) { } bool load(const char* data, int size); @@ -115,20 +110,18 @@ struct btMiniSDF { return m_isValid; } - unsigned int multiToSingleIndex(btMultiIndex const & ijk) const; - + unsigned int multiToSingleIndex(btMultiIndex const& ijk) const; + btAlignedBox3d subdomain(btMultiIndex const& ijk) const; btMultiIndex singleToMultiIndex(unsigned int l) const; btAlignedBox3d subdomain(unsigned int l) const; - btShapeMatrix shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const; bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const; }; - -#endif //MINISDF_H +#endif //MINISDF_H |