diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp | 177 |
1 files changed, 81 insertions, 96 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp index 52f346bf72..c4d33c429f 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp @@ -16,29 +16,29 @@ subject to the following restrictions: #include "btTetrahedronShape.h" #include "LinearMath/btMatrix3x3.h" -btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (), -m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape(), + m_numVertices(0) { m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; } -btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (), -m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape(), + m_numVertices(0) { m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; addVertex(pt0); } -btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (), -m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1) : btPolyhedralConvexAabbCachingShape(), + m_numVertices(0) { m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; addVertex(pt0); addVertex(pt1); } -btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (), -m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2) : btPolyhedralConvexAabbCachingShape(), + m_numVertices(0) { m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; addVertex(pt0); @@ -46,8 +46,8 @@ m_numVertices(0) addVertex(pt2); } -btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (), -m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3) : btPolyhedralConvexAabbCachingShape(), + m_numVertices(0) { m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; addVertex(pt0); @@ -56,17 +56,16 @@ m_numVertices(0) addVertex(pt3); } - -void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +void btBU_Simplex1to4::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { #if 1 - btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax); + btPolyhedralConvexAabbCachingShape::getAabb(t, aabbMin, aabbMax); #else - aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); - aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); + aabbMin.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT); + aabbMax.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT); //just transform the vertices in worldspace, and take their AABB - for (int i=0;i<m_numVertices;i++) + for (int i = 0; i < m_numVertices; i++) { btVector3 worldVertex = t(m_vertices[i]); aabbMin.setMin(worldVertex); @@ -75,18 +74,13 @@ void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3 #endif } - - - - void btBU_Simplex1to4::addVertex(const btVector3& pt) { m_vertices[m_numVertices++] = pt; recalcLocalAabb(); } - -int btBU_Simplex1to4::getNumVertices() const +int btBU_Simplex1to4::getNumVertices() const { return m_numVertices; } @@ -97,122 +91,113 @@ int btBU_Simplex1to4::getNumEdges() const switch (m_numVertices) { - case 0: - return 0; - case 1: return 0; - case 2: return 1; - case 3: return 3; - case 4: return 6; - - + case 0: + return 0; + case 1: + return 0; + case 2: + return 1; + case 3: + return 3; + case 4: + return 6; } return 0; } -void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const +void btBU_Simplex1to4::getEdge(int i, btVector3& pa, btVector3& pb) const { - - switch (m_numVertices) + switch (m_numVertices) { - - case 2: - pa = m_vertices[0]; - pb = m_vertices[1]; - break; - case 3: - switch (i) - { - case 0: - pa = m_vertices[0]; - pb = m_vertices[1]; - break; - case 1: - pa = m_vertices[1]; - pb = m_vertices[2]; - break; case 2: - pa = m_vertices[2]; - pb = m_vertices[0]; - break; - - } - break; - case 4: - switch (i) - { - case 0: pa = m_vertices[0]; pb = m_vertices[1]; break; - case 1: - pa = m_vertices[1]; - pb = m_vertices[2]; - break; - case 2: - pa = m_vertices[2]; - pb = m_vertices[0]; - break; case 3: - pa = m_vertices[0]; - pb = m_vertices[3]; + switch (i) + { + case 0: + pa = m_vertices[0]; + pb = m_vertices[1]; + break; + case 1: + pa = m_vertices[1]; + pb = m_vertices[2]; + break; + case 2: + pa = m_vertices[2]; + pb = m_vertices[0]; + break; + } break; case 4: - pa = m_vertices[1]; - pb = m_vertices[3]; - break; - case 5: - pa = m_vertices[2]; - pb = m_vertices[3]; - break; - } - + switch (i) + { + case 0: + pa = m_vertices[0]; + pb = m_vertices[1]; + break; + case 1: + pa = m_vertices[1]; + pb = m_vertices[2]; + break; + case 2: + pa = m_vertices[2]; + pb = m_vertices[0]; + break; + case 3: + pa = m_vertices[0]; + pb = m_vertices[3]; + break; + case 4: + pa = m_vertices[1]; + pb = m_vertices[3]; + break; + case 5: + pa = m_vertices[2]; + pb = m_vertices[3]; + break; + } } - - - - } -void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const +void btBU_Simplex1to4::getVertex(int i, btVector3& vtx) const { vtx = m_vertices[i]; } -int btBU_Simplex1to4::getNumPlanes() const +int btBU_Simplex1to4::getNumPlanes() const { switch (m_numVertices) { - case 0: + case 0: return 0; - case 1: + case 1: return 0; - case 2: + case 2: return 0; - case 3: + case 3: return 2; - case 4: + case 4: return 4; - default: + default: { } } return 0; } - -void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const +void btBU_Simplex1to4::getPlane(btVector3&, btVector3&, int) const { - } -int btBU_Simplex1to4::getIndex(int ) const +int btBU_Simplex1to4::getIndex(int) const { return 0; } -bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const +bool btBU_Simplex1to4::isInside(const btVector3&, btScalar) const { return false; } - |