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Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h | 173 |
1 files changed, 0 insertions, 173 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h deleted file mode 100644 index 24a0a8f2df..0000000000 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h +++ /dev/null @@ -1,173 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -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. -*/ - -#ifndef BT_VORONOI_SIMPLEX_SOLVER_H -#define BT_VORONOI_SIMPLEX_SOLVER_H - -#include "btSimplexSolverInterface.h" - -#define VORONOI_SIMPLEX_MAX_VERTS 5 - -///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure -#define BT_USE_EQUAL_VERTEX_THRESHOLD - -#ifdef BT_USE_DOUBLE_PRECISION -#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f -#else -#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f -#endif //BT_USE_DOUBLE_PRECISION - -struct btUsageBitfield -{ - btUsageBitfield() - { - reset(); - } - - void reset() - { - usedVertexA = false; - usedVertexB = false; - usedVertexC = false; - usedVertexD = false; - } - unsigned short usedVertexA : 1; - unsigned short usedVertexB : 1; - unsigned short usedVertexC : 1; - unsigned short usedVertexD : 1; - unsigned short unused1 : 1; - unsigned short unused2 : 1; - unsigned short unused3 : 1; - unsigned short unused4 : 1; -}; - -struct btSubSimplexClosestResult -{ - btVector3 m_closestPointOnSimplex; - //MASK for m_usedVertices - //stores the simplex vertex-usage, using the MASK, - // if m_usedVertices & MASK then the related vertex is used - btUsageBitfield m_usedVertices; - btScalar m_barycentricCoords[4]; - bool m_degenerate; - - void reset() - { - m_degenerate = false; - setBarycentricCoordinates(); - m_usedVertices.reset(); - } - bool isValid() - { - bool valid = (m_barycentricCoords[0] >= btScalar(0.)) && - (m_barycentricCoords[1] >= btScalar(0.)) && - (m_barycentricCoords[2] >= btScalar(0.)) && - (m_barycentricCoords[3] >= btScalar(0.)); - - return valid; - } - void setBarycentricCoordinates(btScalar a = btScalar(0.), btScalar b = btScalar(0.), btScalar c = btScalar(0.), btScalar d = btScalar(0.)) - { - m_barycentricCoords[0] = a; - m_barycentricCoords[1] = b; - m_barycentricCoords[2] = c; - m_barycentricCoords[3] = d; - } -}; - -/// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin. -/// Can be used with GJK, as an alternative to Johnson distance algorithm. -#ifdef NO_VIRTUAL_INTERFACE -ATTRIBUTE_ALIGNED16(class) -btVoronoiSimplexSolver -#else -ATTRIBUTE_ALIGNED16(class) -btVoronoiSimplexSolver : public btSimplexSolverInterface -#endif -{ -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - int m_numVertices; - - btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS]; - btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS]; - btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS]; - - btVector3 m_cachedP1; - btVector3 m_cachedP2; - btVector3 m_cachedV; - btVector3 m_lastW; - - btScalar m_equalVertexThreshold; - bool m_cachedValidClosest; - - btSubSimplexClosestResult m_cachedBC; - - bool m_needsUpdate; - - void removeVertex(int index); - void reduceVertices(const btUsageBitfield& usedVerts); - bool updateClosestVectorAndPoints(); - - bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult); - int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d); - bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, btSubSimplexClosestResult& result); - -public: - btVoronoiSimplexSolver() - : m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD) - { - } - void reset(); - - void addVertex(const btVector3& w, const btVector3& p, const btVector3& q); - - void setEqualVertexThreshold(btScalar threshold) - { - m_equalVertexThreshold = threshold; - } - - btScalar getEqualVertexThreshold() const - { - return m_equalVertexThreshold; - } - - bool closest(btVector3 & v); - - btScalar maxVertex(); - - bool fullSimplex() const - { - return (m_numVertices == 4); - } - - int getSimplex(btVector3 * pBuf, btVector3 * qBuf, btVector3 * yBuf) const; - - bool inSimplex(const btVector3& w); - - void backup_closest(btVector3 & v); - - bool emptySimplex() const; - - void compute_points(btVector3 & p1, btVector3 & p2); - - int numVertices() const - { - return m_numVertices; - } -}; - -#endif //BT_VORONOI_SIMPLEX_SOLVER_H |