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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp382
1 files changed, 177 insertions, 205 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index d51b6760fc..521ecfc760 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -12,7 +12,7 @@ subject to the following restrictions:
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.
*/
-#if defined (_WIN32) || defined (__i386__)
+#if defined(_WIN32) || defined(__i386__)
#define BT_USE_SSE_IN_API
#endif
@@ -23,11 +23,9 @@ subject to the following restrictions:
#include "LinearMath/btGeometryUtil.h"
#include "LinearMath/btGrahamScan2dConvexHull.h"
-
-btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
-m_polyhedron(0)
+btPolyhedralConvexShape::btPolyhedralConvexShape() : btConvexInternalShape(),
+ m_polyhedron(0)
{
-
}
btPolyhedralConvexShape::~btPolyhedralConvexShape()
@@ -44,65 +42,65 @@ void btPolyhedralConvexShape::setPolyhedralFeatures(btConvexPolyhedron& polyhedr
if (m_polyhedron)
{
*m_polyhedron = polyhedron;
- } else
+ }
+ else
{
- void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+ void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16);
m_polyhedron = new (mem) btConvexPolyhedron(polyhedron);
}
}
-bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
+bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
{
-
if (m_polyhedron)
{
m_polyhedron->~btConvexPolyhedron();
btAlignedFree(m_polyhedron);
}
-
- void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+
+ void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron), 16);
m_polyhedron = new (mem) btConvexPolyhedron;
btAlignedObjectArray<btVector3> orgVertices;
- for (int i=0;i<getNumVertices();i++)
+ for (int i = 0; i < getNumVertices(); i++)
{
btVector3& newVertex = orgVertices.expand();
- getVertex(i,newVertex);
+ getVertex(i, newVertex);
}
-
+
btConvexHullComputer conv;
-
+
if (shiftVerticesByMargin)
{
btAlignedObjectArray<btVector3> planeEquations;
- btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
+ btGeometryUtil::getPlaneEquationsFromVertices(orgVertices, planeEquations);
btAlignedObjectArray<btVector3> shiftedPlaneEquations;
- for (int p=0;p<planeEquations.size();p++)
+ for (int p = 0; p < planeEquations.size(); p++)
{
- btVector3 plane = planeEquations[p];
- // btScalar margin = getMargin();
- plane[3] -= getMargin();
- shiftedPlaneEquations.push_back(plane);
+ btVector3 plane = planeEquations[p];
+ // btScalar margin = getMargin();
+ plane[3] -= getMargin();
+ shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray<btVector3> tmpVertices;
- btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
-
- conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
- } else
+ btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations, tmpVertices);
+
+ conv.compute(&tmpVertices[0].getX(), sizeof(btVector3), tmpVertices.size(), 0.f, 0.f);
+ }
+ else
{
-
- conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
+ conv.compute(&orgVertices[0].getX(), sizeof(btVector3), orgVertices.size(), 0.f, 0.f);
}
#ifndef BT_RECONSTRUCT_FACES
-
+
int numVertices = conv.vertices.size();
m_polyhedron->m_vertices.resize(numVertices);
- for (int p=0;p<numVertices;p++)
+ for (int p = 0; p < numVertices; p++)
{
m_polyhedron->m_vertices[p] = conv.vertices[p];
}
@@ -115,78 +113,72 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
btFace combinedFace;
const btConvexHullComputer::Edge* edge = &conv.edges[conv.faces[j]];
v0 = edge->getSourceVertex();
- int prevVertex=v0;
+ int prevVertex = v0;
combinedFace.m_indices.push_back(v0);
v1 = edge->getTargetVertex();
while (v1 != v0)
{
-
btVector3 wa = conv.vertices[prevVertex];
btVector3 wb = conv.vertices[v1];
- btVector3 newEdge = wb-wa;
+ btVector3 newEdge = wb - wa;
newEdge.normalize();
- if (numEdges<2)
+ if (numEdges < 2)
edges[numEdges++] = newEdge;
-
//face->addIndex(v1);
combinedFace.m_indices.push_back(v1);
edge = edge->getNextEdgeOfFace();
prevVertex = v1;
int v01 = edge->getSourceVertex();
v1 = edge->getTargetVertex();
-
}
-
+
btAssert(combinedFace.m_indices.size() > 2);
btVector3 faceNormal = edges[0].cross(edges[1]);
faceNormal.normalize();
- btScalar planeEq=1e30f;
+ btScalar planeEq = 1e30f;
- for (int v=0;v<combinedFace.m_indices.size();v++)
+ for (int v = 0; v < combinedFace.m_indices.size(); v++)
{
btScalar eq = m_polyhedron->m_vertices[combinedFace.m_indices[v]].dot(faceNormal);
- if (planeEq>eq)
+ if (planeEq > eq)
{
- planeEq=eq;
+ planeEq = eq;
}
}
combinedFace.m_plane[0] = faceNormal.getX();
combinedFace.m_plane[1] = faceNormal.getY();
combinedFace.m_plane[2] = faceNormal.getZ();
combinedFace.m_plane[3] = -planeEq;
-
+
m_polyhedron->m_faces.push_back(combinedFace);
}
-
-#else//BT_RECONSTRUCT_FACES
+#else //BT_RECONSTRUCT_FACES
btAlignedObjectArray<btVector3> faceNormals;
int numFaces = conv.faces.size();
faceNormals.resize(numFaces);
btConvexHullComputer* convexUtil = &conv;
-
- btAlignedObjectArray<btFace> tmpFaces;
+ btAlignedObjectArray<btFace> tmpFaces;
tmpFaces.resize(numFaces);
int numVertices = convexUtil->vertices.size();
m_polyhedron->m_vertices.resize(numVertices);
- for (int p=0;p<numVertices;p++)
+ for (int p = 0; p < numVertices; p++)
{
m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
}
-
- for (int i=0;i<numFaces;i++)
+ for (int i = 0; i < numFaces; i++)
{
int face = convexUtil->faces[i];
//printf("face=%d\n",face);
- const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
- const btConvexHullComputer::Edge* edge = firstEdge;
+ const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
+ const btConvexHullComputer::Edge* edge = firstEdge;
btVector3 edges[3];
int numEdges = 0;
@@ -194,25 +186,23 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
do
{
-
int src = edge->getSourceVertex();
tmpFaces[i].m_indices.push_back(src);
int targ = edge->getTargetVertex();
btVector3 wa = convexUtil->vertices[src];
btVector3 wb = convexUtil->vertices[targ];
- btVector3 newEdge = wb-wa;
+ btVector3 newEdge = wb - wa;
newEdge.normalize();
- if (numEdges<2)
+ if (numEdges < 2)
edges[numEdges++] = newEdge;
edge = edge->getNextEdgeOfFace();
- } while (edge!=firstEdge);
+ } while (edge != firstEdge);
btScalar planeEq = 1e30f;
-
- if (numEdges==2)
+ if (numEdges == 2)
{
faceNormals[i] = edges[0].cross(edges[1]);
faceNormals[i].normalize();
@@ -220,20 +210,19 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
tmpFaces[i].m_plane[1] = faceNormals[i].getY();
tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
tmpFaces[i].m_plane[3] = planeEq;
-
}
else
{
- btAssert(0);//degenerate?
+ btAssert(0); //degenerate?
faceNormals[i].setZero();
}
- for (int v=0;v<tmpFaces[i].m_indices.size();v++)
+ for (int v = 0; v < tmpFaces[i].m_indices.size(); v++)
{
btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
- if (planeEq>eq)
+ if (planeEq > eq)
{
- planeEq=eq;
+ planeEq = eq;
}
}
tmpFaces[i].m_plane[3] = -planeEq;
@@ -241,89 +230,86 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
//merge coplanar faces and copy them to m_polyhedron
- btScalar faceWeldThreshold= 0.999f;
+ btScalar faceWeldThreshold = 0.999f;
btAlignedObjectArray<int> todoFaces;
- for (int i=0;i<tmpFaces.size();i++)
+ for (int i = 0; i < tmpFaces.size(); i++)
todoFaces.push_back(i);
while (todoFaces.size())
{
btAlignedObjectArray<int> coplanarFaceGroup;
- int refFace = todoFaces[todoFaces.size()-1];
+ int refFace = todoFaces[todoFaces.size() - 1];
coplanarFaceGroup.push_back(refFace);
btFace& faceA = tmpFaces[refFace];
todoFaces.pop_back();
- btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
- for (int j=todoFaces.size()-1;j>=0;j--)
+ btVector3 faceNormalA(faceA.m_plane[0], faceA.m_plane[1], faceA.m_plane[2]);
+ for (int j = todoFaces.size() - 1; j >= 0; j--)
{
int i = todoFaces[j];
btFace& faceB = tmpFaces[i];
- btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
- if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
+ btVector3 faceNormalB(faceB.m_plane[0], faceB.m_plane[1], faceB.m_plane[2]);
+ if (faceNormalA.dot(faceNormalB) > faceWeldThreshold)
{
coplanarFaceGroup.push_back(i);
todoFaces.remove(i);
}
}
-
bool did_merge = false;
- if (coplanarFaceGroup.size()>1)
+ if (coplanarFaceGroup.size() > 1)
{
//do the merge: use Graham Scan 2d convex hull
btAlignedObjectArray<GrahamVector3> orgpoints;
- btVector3 averageFaceNormal(0,0,0);
+ btVector3 averageFaceNormal(0, 0, 0);
- for (int i=0;i<coplanarFaceGroup.size();i++)
+ for (int i = 0; i < coplanarFaceGroup.size(); i++)
{
-// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+ // m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
btFace& face = tmpFaces[coplanarFaceGroup[i]];
- btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
- averageFaceNormal+=faceNormal;
- for (int f=0;f<face.m_indices.size();f++)
+ btVector3 faceNormal(face.m_plane[0], face.m_plane[1], face.m_plane[2]);
+ averageFaceNormal += faceNormal;
+ for (int f = 0; f < face.m_indices.size(); f++)
{
int orgIndex = face.m_indices[f];
btVector3 pt = m_polyhedron->m_vertices[orgIndex];
-
+
bool found = false;
- for (int i=0;i<orgpoints.size();i++)
+ for (int i = 0; i < orgpoints.size(); i++)
{
//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
if (orgpoints[i].m_orgIndex == orgIndex)
{
- found=true;
+ found = true;
break;
}
}
if (!found)
- orgpoints.push_back(GrahamVector3(pt,orgIndex));
+ orgpoints.push_back(GrahamVector3(pt, orgIndex));
}
}
-
-
btFace combinedFace;
- for (int i=0;i<4;i++)
+ for (int i = 0; i < 4; i++)
combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
btAlignedObjectArray<GrahamVector3> hull;
averageFaceNormal.normalize();
- GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
+ GrahamScanConvexHull2D(orgpoints, hull, averageFaceNormal);
- for (int i=0;i<hull.size();i++)
+ for (int i = 0; i < hull.size(); i++)
{
combinedFace.m_indices.push_back(hull[i].m_orgIndex);
- for(int k = 0; k < orgpoints.size(); k++)
+ for (int k = 0; k < orgpoints.size(); k++)
{
- if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
+ if (orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
{
- orgpoints[k].m_orgIndex = -1; // invalidate...
+ orgpoints[k].m_orgIndex = -1; // invalidate...
break;
}
}
@@ -331,38 +317,41 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
// are there rejected vertices?
bool reject_merge = false;
-
-
- for(int i = 0; i < orgpoints.size(); i++) {
- if(orgpoints[i].m_orgIndex == -1)
- continue; // this is in the hull...
+ for (int i = 0; i < orgpoints.size(); i++)
+ {
+ if (orgpoints[i].m_orgIndex == -1)
+ continue; // this is in the hull...
// this vertex is rejected -- is anybody else using this vertex?
- for(int j = 0; j < tmpFaces.size(); j++) {
-
+ for (int j = 0; j < tmpFaces.size(); j++)
+ {
btFace& face = tmpFaces[j];
// is this a face of the current coplanar group?
bool is_in_current_group = false;
- for(int k = 0; k < coplanarFaceGroup.size(); k++) {
- if(coplanarFaceGroup[k] == j) {
+ for (int k = 0; k < coplanarFaceGroup.size(); k++)
+ {
+ if (coplanarFaceGroup[k] == j)
+ {
is_in_current_group = true;
break;
}
}
- if(is_in_current_group) // ignore this face...
+ if (is_in_current_group) // ignore this face...
continue;
// does this face use this rejected vertex?
- for(int v = 0; v < face.m_indices.size(); v++) {
- if(face.m_indices[v] == orgpoints[i].m_orgIndex) {
+ for (int v = 0; v < face.m_indices.size(); v++)
+ {
+ if (face.m_indices[v] == orgpoints[i].m_orgIndex)
+ {
// this rejected vertex is used in another face -- reject merge
reject_merge = true;
break;
}
}
- if(reject_merge)
+ if (reject_merge)
break;
}
- if(reject_merge)
+ if (reject_merge)
break;
}
@@ -373,21 +362,17 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
m_polyhedron->m_faces.push_back(combinedFace);
}
}
- if(!did_merge)
+ if (!did_merge)
{
- for (int i=0;i<coplanarFaceGroup.size();i++)
+ for (int i = 0; i < coplanarFaceGroup.size(); i++)
{
btFace face = tmpFaces[coplanarFaceGroup[i]];
m_polyhedron->m_faces.push_back(face);
}
-
- }
-
-
-
+ }
}
-#endif //BT_RECONSTRUCT_FACES
+#endif //BT_RECONSTRUCT_FACES
m_polyhedron->initialize();
@@ -395,14 +380,12 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
}
#ifndef MIN
- #define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
+#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
#endif
-btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
{
-
-
- btVector3 supVec(0,0,0);
+ btVector3 supVec(0, 0, 0);
#ifndef __SPU__
int i;
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
@@ -411,37 +394,36 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
- vec.setValue(1,0,0);
- } else
+ vec.setValue(1, 0, 0);
+ }
+ else
{
- btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+ btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
vec *= rlen;
}
btVector3 vtx;
btScalar newDot;
- for( int k = 0; k < getNumVertices(); k += 128 )
- {
- btVector3 temp[128];
- int inner_count = MIN(getNumVertices() - k, 128);
- for( i = 0; i < inner_count; i++ )
- getVertex(i,temp[i]);
- i = (int) vec.maxDot( temp, inner_count, newDot);
+ for (int k = 0; k < getNumVertices(); k += 128)
+ {
+ btVector3 temp[128];
+ int inner_count = MIN(getNumVertices() - k, 128);
+ for (i = 0; i < inner_count; i++)
+ getVertex(i, temp[i]);
+ i = (int)vec.maxDot(temp, inner_count, newDot);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = temp[i];
- }
- }
-
-#endif //__SPU__
+ }
+ }
+
+#endif //__SPU__
return supVec;
}
-
-
-void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
#ifndef __SPU__
int i;
@@ -449,36 +431,34 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
btVector3 vtx;
btScalar newDot;
- for (i=0;i<numVectors;i++)
+ for (i = 0; i < numVectors; i++)
{
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
- for (int j=0;j<numVectors;j++)
+ for (int j = 0; j < numVectors; j++)
{
- const btVector3& vec = vectors[j];
-
- for( int k = 0; k < getNumVertices(); k += 128 )
- {
- btVector3 temp[128];
- int inner_count = MIN(getNumVertices() - k, 128);
- for( i = 0; i < inner_count; i++ )
- getVertex(i,temp[i]);
- i = (int) vec.maxDot( temp, inner_count, newDot);
- if (newDot > supportVerticesOut[j][3])
- {
+ const btVector3& vec = vectors[j];
+
+ for (int k = 0; k < getNumVertices(); k += 128)
+ {
+ btVector3 temp[128];
+ int inner_count = MIN(getNumVertices() - k, 128);
+ for (i = 0; i < inner_count; i++)
+ getVertex(i, temp[i]);
+ i = (int)vec.maxDot(temp, inner_count, newDot);
+ if (newDot > supportVerticesOut[j][3])
+ {
supportVerticesOut[j] = temp[i];
supportVerticesOut[j][3] = newDot;
- }
- }
- }
+ }
+ }
+ }
-#endif //__SPU__
+#endif //__SPU__
}
-
-
-void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
{
#ifndef __SPU__
//not yet, return box inertia
@@ -487,81 +467,77 @@ void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine
btTransform ident;
ident.setIdentity();
- btVector3 aabbMin,aabbMax;
- getAabb(ident,aabbMin,aabbMax);
- btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
-
- btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
- btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
- btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
- const btScalar x2 = lx*lx;
- const btScalar y2 = ly*ly;
- const btScalar z2 = lz*lz;
+ btVector3 aabbMin, aabbMax;
+ getAabb(ident, aabbMin, aabbMax);
+ btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
+
+ btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
+ btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
+ btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
+ const btScalar x2 = lx * lx;
+ const btScalar y2 = ly * ly;
+ const btScalar z2 = lz * lz;
const btScalar scaledmass = mass * btScalar(0.08333333);
- inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
-#endif //__SPU__
+ inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
+#endif //__SPU__
}
-
-
-void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
+void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
{
btConvexInternalShape::setLocalScaling(scaling);
recalcLocalAabb();
}
btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()
-:btPolyhedralConvexShape(),
-m_localAabbMin(1,1,1),
-m_localAabbMax(-1,-1,-1),
-m_isLocalAabbValid(false)
+ : btPolyhedralConvexShape(),
+ m_localAabbMin(1, 1, 1),
+ m_localAabbMax(-1, -1, -1),
+ m_isLocalAabbValid(false)
{
}
-void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
{
- getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
+ getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
}
-void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
+void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
{
m_isLocalAabbValid = true;
-
- #if 1
+
+#if 1
static const btVector3 _directions[] =
- {
- btVector3( 1., 0., 0.),
- btVector3( 0., 1., 0.),
- btVector3( 0., 0., 1.),
- btVector3( -1., 0., 0.),
- btVector3( 0., -1., 0.),
- btVector3( 0., 0., -1.)
- };
-
+ {
+ btVector3(1., 0., 0.),
+ btVector3(0., 1., 0.),
+ btVector3(0., 0., 1.),
+ btVector3(-1., 0., 0.),
+ btVector3(0., -1., 0.),
+ btVector3(0., 0., -1.)};
+
btVector3 _supporting[] =
- {
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.)
- };
-
+ {
+ btVector3(0., 0., 0.),
+ btVector3(0., 0., 0.),
+ btVector3(0., 0., 0.),
+ btVector3(0., 0., 0.),
+ btVector3(0., 0., 0.),
+ btVector3(0., 0., 0.)};
+
batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
-
- for ( int i = 0; i < 3; ++i )
+
+ for (int i = 0; i < 3; ++i)
{
m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
}
-
- #else
- for (int i=0;i<3;i++)
+#else
+
+ for (int i = 0; i < 3; i++)
{
- btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+ btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec);
m_localAabbMax[i] = tmp[i];
@@ -569,9 +545,5 @@ void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
tmp = localGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i];
}
- #endif
+#endif
}
-
-
-
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-17 01:09:17 +0000