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-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h154
1 files changed, 71 insertions, 83 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
index 80fd490f4e..24a0a8f2df 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
@@ -13,15 +13,11 @@ subject to the following restrictions:
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
@@ -31,9 +27,10 @@ subject to the following restrictions:
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f
#else
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
-#endif//BT_USE_DOUBLE_PRECISION
+#endif //BT_USE_DOUBLE_PRECISION
-struct btUsageBitfield{
+struct btUsageBitfield
+{
btUsageBitfield()
{
reset();
@@ -46,140 +43,131 @@ struct btUsageBitfield{
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;
+ 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
+struct btSubSimplexClosestResult
{
- btVector3 m_closestPointOnSimplex;
+ btVector3 m_closestPointOnSimplex;
//MASK for m_usedVertices
- //stores the simplex vertex-usage, using the MASK,
+ //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];
+ btUsageBitfield m_usedVertices;
+ btScalar m_barycentricCoords[4];
bool m_degenerate;
- void reset()
+ void reset()
{
m_degenerate = false;
setBarycentricCoordinates();
m_usedVertices.reset();
}
- bool isValid()
+ bool isValid()
{
bool valid = (m_barycentricCoords[0] >= btScalar(0.)) &&
- (m_barycentricCoords[1] >= btScalar(0.)) &&
- (m_barycentricCoords[2] >= btScalar(0.)) &&
- (m_barycentricCoords[3] >= 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.))
+ 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
+ATTRIBUTE_ALIGNED16(class)
+btVoronoiSimplexSolver
#else
-ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver : public btSimplexSolverInterface
+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];
+ 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;
+ 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 m_needsUpdate;
- 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);
+ void removeVertex(int index);
+ void reduceVertices(const btUsageBitfield& usedVerts);
+ bool updateClosestVectorAndPoints();
-public:
+ 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)
+ : m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
{
}
- void reset();
-
- void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
+ void reset();
- void setEqualVertexThreshold(btScalar threshold)
- {
- m_equalVertexThreshold = threshold;
- }
+ void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
- btScalar getEqualVertexThreshold() const
- {
- return m_equalVertexThreshold;
- }
+ void setEqualVertexThreshold(btScalar threshold)
+ {
+ m_equalVertexThreshold = threshold;
+ }
- bool closest(btVector3& v);
+ btScalar getEqualVertexThreshold() const
+ {
+ return m_equalVertexThreshold;
+ }
- btScalar maxVertex();
+ bool closest(btVector3 & v);
- bool fullSimplex() const
- {
- return (m_numVertices == 4);
- }
+ btScalar maxVertex();
- int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const;
+ bool fullSimplex() const
+ {
+ return (m_numVertices == 4);
+ }
- bool inSimplex(const btVector3& w);
-
- void backup_closest(btVector3& v) ;
+ int getSimplex(btVector3 * pBuf, btVector3 * qBuf, btVector3 * yBuf) const;
- bool emptySimplex() const ;
+ bool inSimplex(const btVector3& w);
- void compute_points(btVector3& p1, btVector3& p2) ;
+ void backup_closest(btVector3 & v);
- int numVertices() const
- {
- return m_numVertices;
- }
+ bool emptySimplex() const;
+ void compute_points(btVector3 & p1, btVector3 & p2);
+ int numVertices() const
+ {
+ return m_numVertices;
+ }
};
-#endif //BT_VORONOI_SIMPLEX_SOLVER_H
-
+#endif //BT_VORONOI_SIMPLEX_SOLVER_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-17 01:02:24 +0000