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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Geometry/b3GeometryUtil.cpp')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Geometry/b3GeometryUtil.cpp | 185 |
1 files changed, 0 insertions, 185 deletions
diff --git a/thirdparty/bullet/src/Bullet3Geometry/b3GeometryUtil.cpp b/thirdparty/bullet/src/Bullet3Geometry/b3GeometryUtil.cpp deleted file mode 100644 index dd80fed6bd..0000000000 --- a/thirdparty/bullet/src/Bullet3Geometry/b3GeometryUtil.cpp +++ /dev/null @@ -1,185 +0,0 @@ -/* -Copyright (c) 2003-2006 Gino van den Bergen / 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. -*/ - - - -#include "b3GeometryUtil.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 b3BulletMathProbe (); - - void b3BulletMathProbe () {} -} - - -bool b3GeometryUtil::isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar margin) -{ - int numbrushes = planeEquations.size(); - for (int i=0;i<numbrushes;i++) - { - const b3Vector3& N1 = planeEquations[i]; - b3Scalar dist = b3Scalar(N1.dot(point))+b3Scalar(N1[3])-margin; - if (dist>b3Scalar(0.)) - { - return false; - } - } - return true; - -} - - -bool b3GeometryUtil::areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin) -{ - int numvertices = vertices.size(); - for (int i=0;i<numvertices;i++) - { - const b3Vector3& N1 = vertices[i]; - b3Scalar dist = b3Scalar(planeNormal.dot(N1))+b3Scalar(planeNormal[3])-margin; - if (dist>b3Scalar(0.)) - { - return false; - } - } - return true; -} - -bool notExist(const b3Vector3& planeEquation,const b3AlignedObjectArray<b3Vector3>& planeEquations); - -bool notExist(const b3Vector3& planeEquation,const b3AlignedObjectArray<b3Vector3>& planeEquations) -{ - int numbrushes = planeEquations.size(); - for (int i=0;i<numbrushes;i++) - { - const b3Vector3& N1 = planeEquations[i]; - if (planeEquation.dot(N1) > b3Scalar(0.999)) - { - return false; - } - } - return true; -} - -void b3GeometryUtil::getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut ) -{ - const int numvertices = vertices.size(); - // brute force: - for (int i=0;i<numvertices;i++) - { - const b3Vector3& N1 = vertices[i]; - - - for (int j=i+1;j<numvertices;j++) - { - const b3Vector3& N2 = vertices[j]; - - for (int k=j+1;k<numvertices;k++) - { - - const b3Vector3& N3 = vertices[k]; - - b3Vector3 planeEquation,edge0,edge1; - edge0 = N2-N1; - edge1 = N3-N1; - b3Scalar normalSign = b3Scalar(1.); - for (int ww=0;ww<2;ww++) - { - planeEquation = normalSign * edge0.cross(edge1); - if (planeEquation.length2() > b3Scalar(0.0001)) - { - planeEquation.normalize(); - if (notExist(planeEquation,planeEquationsOut)) - { - planeEquation[3] = -planeEquation.dot(N1); - - //check if inside, and replace supportingVertexOut if needed - if (areVerticesBehindPlane(planeEquation,vertices,b3Scalar(0.01))) - { - planeEquationsOut.push_back(planeEquation); - } - } - } - normalSign = b3Scalar(-1.); - } - - } - } - } - -} - -void b3GeometryUtil::getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations , b3AlignedObjectArray<b3Vector3>& verticesOut ) -{ - const int numbrushes = planeEquations.size(); - // brute force: - for (int i=0;i<numbrushes;i++) - { - const b3Vector3& N1 = planeEquations[i]; - - - for (int j=i+1;j<numbrushes;j++) - { - const b3Vector3& N2 = planeEquations[j]; - - for (int k=j+1;k<numbrushes;k++) - { - - const b3Vector3& N3 = planeEquations[k]; - - b3Vector3 n2n3; n2n3 = N2.cross(N3); - b3Vector3 n3n1; n3n1 = N3.cross(N1); - b3Vector3 n1n2; n1n2 = N1.cross(N2); - - if ( ( n2n3.length2() > b3Scalar(0.0001) ) && - ( n3n1.length2() > b3Scalar(0.0001) ) && - ( n1n2.length2() > b3Scalar(0.0001) ) ) - { - //point P out of 3 plane equations: - - // d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 ) - //P = ------------------------------------------------------------------------- - // N1 . ( N2 * N3 ) - - - b3Scalar quotient = (N1.dot(n2n3)); - if (b3Fabs(quotient) > b3Scalar(0.000001)) - { - quotient = b3Scalar(-1.) / quotient; - n2n3 *= N1[3]; - n3n1 *= N2[3]; - n1n2 *= N3[3]; - b3Vector3 potentialVertex = n2n3; - potentialVertex += n3n1; - potentialVertex += n1n2; - potentialVertex *= quotient; - - //check if inside, and replace supportingVertexOut if needed - if (isPointInsidePlanes(planeEquations,potentialVertex,b3Scalar(0.01))) - { - verticesOut.push_back(potentialVertex); - } - } - } - } - } - } -} - |