diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp | 35 |
1 files changed, 14 insertions, 21 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp index 828acda470..4a95dbea4f 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp @@ -9,10 +9,9 @@ struct btSdfCollisionShapeInternalData btMiniSDF m_sdf; btSdfCollisionShapeInternalData() - :m_localScaling(1,1,1), - m_margin(0) + : m_localScaling(1, 1, 1), + m_margin(0) { - } }; @@ -26,8 +25,6 @@ btSdfCollisionShape::btSdfCollisionShape() m_shapeType = SDF_SHAPE_PROXYTYPE; m_data = new btSdfCollisionShapeInternalData(); - - //"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf"); /*unsigned int field_id=0; Eigen::Vector3d x (1,10,1); @@ -35,25 +32,22 @@ btSdfCollisionShape::btSdfCollisionShape() double dist = m_data->m_sdf.interpolate(field_id, x, &gradient); printf("dist=%g\n", dist); */ - } btSdfCollisionShape::~btSdfCollisionShape() { delete m_data; } -void btSdfCollisionShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +void btSdfCollisionShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { btAssert(m_data->m_sdf.isValid()); btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min; btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max; btScalar margin(0); - btTransformAabb(localAabbMin,localAabbMax,margin,t,aabbMin,aabbMax); - + btTransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax); } - -void btSdfCollisionShape::setLocalScaling(const btVector3& scaling) +void btSdfCollisionShape::setLocalScaling(const btVector3& scaling) { m_data->m_localScaling = scaling; } @@ -61,39 +55,38 @@ const btVector3& btSdfCollisionShape::getLocalScaling() const { return m_data->m_localScaling; } -void btSdfCollisionShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +void btSdfCollisionShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const { - inertia.setValue(0,0,0); + inertia.setValue(0, 0, 0); } -const char* btSdfCollisionShape::getName()const +const char* btSdfCollisionShape::getName() const { return "btSdfCollisionShape"; } -void btSdfCollisionShape::setMargin(btScalar margin) +void btSdfCollisionShape::setMargin(btScalar margin) { m_data->m_margin = margin; } -btScalar btSdfCollisionShape::getMargin() const +btScalar btSdfCollisionShape::getMargin() const { return m_data->m_margin; } -void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const { //not yet } - bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal) { int field = 0; btVector3 grad; double dist; - bool hasResult = m_data->m_sdf.interpolate(field,dist, ptInSDF,&grad); + bool hasResult = m_data->m_sdf.interpolate(field, dist, ptInSDF, &grad); if (hasResult) { - normal.setValue(grad[0],grad[1],grad[2]); - distOut= dist; + normal.setValue(grad[0], grad[1], grad[2]); + distOut = dist; } return hasResult; } |