diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h | 139 |
1 files changed, 65 insertions, 74 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h b/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h index de0a5231ba..38c23e222d 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btClipPolygon.h @@ -27,77 +27,74 @@ subject to the following restrictions: #include "LinearMath/btTransform.h" #include "LinearMath/btGeometryUtil.h" - -SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 & plane,const btVector3 &point) +SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 &plane, const btVector3 &point) { return point.dot(plane) - plane[3]; } /*! Vector blending Takes two vectors a, b, blends them together*/ -SIMD_FORCE_INLINE void bt_vec_blend(btVector3 &vr, const btVector3 &va,const btVector3 &vb, btScalar blend_factor) +SIMD_FORCE_INLINE void bt_vec_blend(btVector3 &vr, const btVector3 &va, const btVector3 &vb, btScalar blend_factor) { - vr = (1-blend_factor)*va + blend_factor*vb; + vr = (1 - blend_factor) * va + blend_factor * vb; } //! This function calcs the distance from a 3D plane SIMD_FORCE_INLINE void bt_plane_clip_polygon_collect( - const btVector3 & point0, - const btVector3 & point1, - btScalar dist0, - btScalar dist1, - btVector3 * clipped, - int & clipped_count) + const btVector3 &point0, + const btVector3 &point1, + btScalar dist0, + btScalar dist1, + btVector3 *clipped, + int &clipped_count) { - bool _prevclassif = (dist0>SIMD_EPSILON); - bool _classif = (dist1>SIMD_EPSILON); - if(_classif!=_prevclassif) + bool _prevclassif = (dist0 > SIMD_EPSILON); + bool _classif = (dist1 > SIMD_EPSILON); + if (_classif != _prevclassif) { - btScalar blendfactor = -dist0/(dist1-dist0); - bt_vec_blend(clipped[clipped_count],point0,point1,blendfactor); + btScalar blendfactor = -dist0 / (dist1 - dist0); + bt_vec_blend(clipped[clipped_count], point0, point1, blendfactor); clipped_count++; } - if(!_classif) + if (!_classif) { clipped[clipped_count] = point1; clipped_count++; } } - //! Clips a polygon by a plane /*! *\return The count of the clipped counts */ SIMD_FORCE_INLINE int bt_plane_clip_polygon( - const btVector4 & plane, - const btVector3 * polygon_points, - int polygon_point_count, - btVector3 * clipped) + const btVector4 &plane, + const btVector3 *polygon_points, + int polygon_point_count, + btVector3 *clipped) { - int clipped_count = 0; - + int clipped_count = 0; - //clip first point - btScalar firstdist = bt_distance_point_plane(plane,polygon_points[0]);; - if(!(firstdist>SIMD_EPSILON)) + //clip first point + btScalar firstdist = bt_distance_point_plane(plane, polygon_points[0]); + ; + if (!(firstdist > SIMD_EPSILON)) { clipped[clipped_count] = polygon_points[0]; clipped_count++; } btScalar olddist = firstdist; - for(int i=1;i<polygon_point_count;i++) + for (int i = 1; i < polygon_point_count; i++) { - btScalar dist = bt_distance_point_plane(plane,polygon_points[i]); + btScalar dist = bt_distance_point_plane(plane, polygon_points[i]); bt_plane_clip_polygon_collect( - polygon_points[i-1],polygon_points[i], - olddist, - dist, - clipped, - clipped_count); - + polygon_points[i - 1], polygon_points[i], + olddist, + dist, + clipped, + clipped_count); olddist = dist; } @@ -105,11 +102,11 @@ SIMD_FORCE_INLINE int bt_plane_clip_polygon( //RETURN TO FIRST point bt_plane_clip_polygon_collect( - polygon_points[polygon_point_count-1],polygon_points[0], - olddist, - firstdist, - clipped, - clipped_count); + polygon_points[polygon_point_count - 1], polygon_points[0], + olddist, + firstdist, + clipped, + clipped_count); return clipped_count; } @@ -120,18 +117,19 @@ SIMD_FORCE_INLINE int bt_plane_clip_polygon( *\return The count of the clipped counts */ SIMD_FORCE_INLINE int bt_plane_clip_triangle( - const btVector4 & plane, - const btVector3 & point0, - const btVector3 & point1, - const btVector3& point2, - btVector3 * clipped // an allocated array of 16 points at least - ) + const btVector4 &plane, + const btVector3 &point0, + const btVector3 &point1, + const btVector3 &point2, + btVector3 *clipped // an allocated array of 16 points at least +) { - int clipped_count = 0; + int clipped_count = 0; - //clip first point0 - btScalar firstdist = bt_distance_point_plane(plane,point0);; - if(!(firstdist>SIMD_EPSILON)) + //clip first point0 + btScalar firstdist = bt_distance_point_plane(plane, point0); + ; + if (!(firstdist > SIMD_EPSILON)) { clipped[clipped_count] = point0; clipped_count++; @@ -139,44 +137,37 @@ SIMD_FORCE_INLINE int bt_plane_clip_triangle( // point 1 btScalar olddist = firstdist; - btScalar dist = bt_distance_point_plane(plane,point1); + btScalar dist = bt_distance_point_plane(plane, point1); bt_plane_clip_polygon_collect( - point0,point1, - olddist, - dist, - clipped, - clipped_count); + point0, point1, + olddist, + dist, + clipped, + clipped_count); olddist = dist; - // point 2 - dist = bt_distance_point_plane(plane,point2); + dist = bt_distance_point_plane(plane, point2); bt_plane_clip_polygon_collect( - point1,point2, - olddist, - dist, - clipped, - clipped_count); + point1, point2, + olddist, + dist, + clipped, + clipped_count); olddist = dist; - - //RETURN TO FIRST point0 bt_plane_clip_polygon_collect( - point2,point0, - olddist, - firstdist, - clipped, - clipped_count); + point2, point0, + olddist, + firstdist, + clipped, + clipped_count); return clipped_count; } - - - - -#endif // GIM_TRI_COLLISION_H_INCLUDED +#endif // GIM_TRI_COLLISION_H_INCLUDED |