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path: root/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
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-rw-r--r--thirdparty/bullet/LinearMath/btGeometryUtil.cpp113
1 files changed, 51 insertions, 62 deletions
diff --git a/thirdparty/bullet/LinearMath/btGeometryUtil.cpp b/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
index 5ac230f712..115e3eab81 100644
--- a/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
+++ b/thirdparty/bullet/LinearMath/btGeometryUtil.cpp
@@ -12,49 +12,43 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
-
#include "btGeometryUtil.h"
-
/*
Make sure this dummy function never changes so that it
can be used by probes that are checking whether the
library is actually installed.
*/
extern "C"
-{
- void btBulletMathProbe ();
+{
+ void btBulletMathProbe();
- void btBulletMathProbe () {}
+ void btBulletMathProbe() {}
}
-
-bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin)
+bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin)
{
int numbrushes = planeEquations.size();
- for (int i=0;i<numbrushes;i++)
+ for (int i = 0; i < numbrushes; i++)
{
const btVector3& N1 = planeEquations[i];
- btScalar dist = btScalar(N1.dot(point))+btScalar(N1[3])-margin;
- if (dist>btScalar(0.))
+ btScalar dist = btScalar(N1.dot(point)) + btScalar(N1[3]) - margin;
+ if (dist > btScalar(0.))
{
return false;
}
}
return true;
-
}
-
-bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin)
+bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin)
{
int numvertices = vertices.size();
- for (int i=0;i<numvertices;i++)
+ for (int i = 0; i < numvertices; i++)
{
const btVector3& N1 = vertices[i];
- btScalar dist = btScalar(planeNormal.dot(N1))+btScalar(planeNormal[3])-margin;
- if (dist>btScalar(0.))
+ btScalar dist = btScalar(planeNormal.dot(N1)) + btScalar(planeNormal[3]) - margin;
+ if (dist > btScalar(0.))
{
return false;
}
@@ -62,102 +56,98 @@ bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const
return true;
}
-bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations);
+bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations);
-bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations)
+bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations)
{
int numbrushes = planeEquations.size();
- for (int i=0;i<numbrushes;i++)
+ for (int i = 0; i < numbrushes; i++)
{
const btVector3& N1 = planeEquations[i];
if (planeEquation.dot(N1) > btScalar(0.999))
{
return false;
- }
+ }
}
return true;
}
-void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut )
+void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut)
{
- const int numvertices = vertices.size();
+ const int numvertices = vertices.size();
// brute force:
- for (int i=0;i<numvertices;i++)
+ for (int i = 0; i < numvertices; i++)
{
const btVector3& N1 = vertices[i];
-
- for (int j=i+1;j<numvertices;j++)
+ for (int j = i + 1; j < numvertices; j++)
{
const btVector3& N2 = vertices[j];
-
- for (int k=j+1;k<numvertices;k++)
- {
+ for (int k = j + 1; k < numvertices; k++)
+ {
const btVector3& N3 = vertices[k];
- btVector3 planeEquation,edge0,edge1;
- edge0 = N2-N1;
- edge1 = N3-N1;
+ btVector3 planeEquation, edge0, edge1;
+ edge0 = N2 - N1;
+ edge1 = N3 - N1;
btScalar normalSign = btScalar(1.);
- for (int ww=0;ww<2;ww++)
+ for (int ww = 0; ww < 2; ww++)
{
planeEquation = normalSign * edge0.cross(edge1);
if (planeEquation.length2() > btScalar(0.0001))
{
planeEquation.normalize();
- if (notExist(planeEquation,planeEquationsOut))
+ if (notExist(planeEquation, planeEquationsOut))
{
planeEquation[3] = -planeEquation.dot(N1);
-
- //check if inside, and replace supportingVertexOut if needed
- if (areVerticesBehindPlane(planeEquation,vertices,btScalar(0.01)))
- {
- planeEquationsOut.push_back(planeEquation);
- }
+
+ //check if inside, and replace supportingVertexOut if needed
+ if (areVerticesBehindPlane(planeEquation, vertices, btScalar(0.01)))
+ {
+ planeEquationsOut.push_back(planeEquation);
+ }
}
}
normalSign = btScalar(-1.);
}
-
}
}
}
-
}
-void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations , btAlignedObjectArray<btVector3>& verticesOut )
+void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations, btAlignedObjectArray<btVector3>& verticesOut)
{
const int numbrushes = planeEquations.size();
// brute force:
- for (int i=0;i<numbrushes;i++)
+ for (int i = 0; i < numbrushes; i++)
{
const btVector3& N1 = planeEquations[i];
-
- for (int j=i+1;j<numbrushes;j++)
+ for (int j = i + 1; j < numbrushes; j++)
{
const btVector3& N2 = planeEquations[j];
-
- for (int k=j+1;k<numbrushes;k++)
- {
+ for (int k = j + 1; k < numbrushes; k++)
+ {
const btVector3& N3 = planeEquations[k];
- btVector3 n2n3; n2n3 = N2.cross(N3);
- btVector3 n3n1; n3n1 = N3.cross(N1);
- btVector3 n1n2; n1n2 = N1.cross(N2);
-
- if ( ( n2n3.length2() > btScalar(0.0001) ) &&
- ( n3n1.length2() > btScalar(0.0001) ) &&
- ( n1n2.length2() > btScalar(0.0001) ) )
+ btVector3 n2n3;
+ n2n3 = N2.cross(N3);
+ btVector3 n3n1;
+ n3n1 = N3.cross(N1);
+ btVector3 n1n2;
+ n1n2 = N1.cross(N2);
+
+ if ((n2n3.length2() > btScalar(0.0001)) &&
+ (n3n1.length2() > btScalar(0.0001)) &&
+ (n1n2.length2() > btScalar(0.0001)))
{
//point P out of 3 plane equations:
- // d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
- //P = -------------------------------------------------------------------------
- // N1 . ( N2 * N3 )
-
+ // d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
+ //P = -------------------------------------------------------------------------
+ // N1 . ( N2 * N3 )
btScalar quotient = (N1.dot(n2n3));
if (btFabs(quotient) > btScalar(0.000001))
@@ -172,7 +162,7 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt
potentialVertex *= quotient;
//check if inside, and replace supportingVertexOut if needed
- if (isPointInsidePlanes(planeEquations,potentialVertex,btScalar(0.01)))
+ if (isPointInsidePlanes(planeEquations, potentialVertex, btScalar(0.01)))
{
verticesOut.push_back(potentialVertex);
}
@@ -182,4 +172,3 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt
}
}
}
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-11 23:53:05 +0000