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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp | 262 |
1 files changed, 0 insertions, 262 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp deleted file mode 100644 index a7a9598406..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp +++ /dev/null @@ -1,262 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org - -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. -*/ - -#if defined (_WIN32) || defined (__i386__) -#define BT_USE_SSE_IN_API -#endif - -#include "btConvexHullShape.h" -#include "BulletCollision/CollisionShapes/btCollisionMargin.h" - -#include "LinearMath/btQuaternion.h" -#include "LinearMath/btSerializer.h" -#include "btConvexPolyhedron.h" -#include "LinearMath/btConvexHullComputer.h" - -btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape () -{ - m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE; - m_unscaledPoints.resize(numPoints); - - unsigned char* pointsAddress = (unsigned char*)points; - - for (int i=0;i<numPoints;i++) - { - btScalar* point = (btScalar*)pointsAddress; - m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]); - pointsAddress += stride; - } - - recalcLocalAabb(); - -} - - - -void btConvexHullShape::setLocalScaling(const btVector3& scaling) -{ - m_localScaling = scaling; - recalcLocalAabb(); -} - -void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAabb) -{ - m_unscaledPoints.push_back(point); - if (recalculateLocalAabb) - recalcLocalAabb(); - -} - -btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const -{ - btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); - btScalar maxDot = btScalar(-BT_LARGE_FLOAT); - - // Here we take advantage of dot(a, b*c) = dot(a*b, c). Note: This is true mathematically, but not numerically. - if( 0 < m_unscaledPoints.size() ) - { - btVector3 scaled = vec * m_localScaling; - int index = (int) scaled.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints - return m_unscaledPoints[index] * m_localScaling; - } - - return supVec; -} - -void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const -{ - btScalar newDot; - //use 'w' component of supportVerticesOut? - { - for (int i=0;i<numVectors;i++) - { - supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT); - } - } - - for (int j=0;j<numVectors;j++) - { - btVector3 vec = vectors[j] * m_localScaling; // dot(a*b,c) = dot(a,b*c) - if( 0 < m_unscaledPoints.size() ) - { - int i = (int) vec.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), newDot); - supportVerticesOut[j] = getScaledPoint(i); - supportVerticesOut[j][3] = newDot; - } - else - supportVerticesOut[j][3] = -BT_LARGE_FLOAT; - } - - - -} - - - -btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const -{ - btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); - - if ( getMargin()!=btScalar(0.) ) - { - btVector3 vecnorm = vec; - if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) - { - vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); - } - vecnorm.normalize(); - supVertex+= getMargin() * vecnorm; - } - return supVertex; -} - - -void btConvexHullShape::optimizeConvexHull() -{ - btConvexHullComputer conv; - conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3),m_unscaledPoints.size(),0.f,0.f); - int numVerts = conv.vertices.size(); - m_unscaledPoints.resize(0); - for (int i=0;i<numVerts;i++) - { - m_unscaledPoints.push_back(conv.vertices[i]); - } -} - - - -//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection -//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo -int btConvexHullShape::getNumVertices() const -{ - return m_unscaledPoints.size(); -} - -int btConvexHullShape::getNumEdges() const -{ - return m_unscaledPoints.size(); -} - -void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const -{ - - int index0 = i%m_unscaledPoints.size(); - int index1 = (i+1)%m_unscaledPoints.size(); - pa = getScaledPoint(index0); - pb = getScaledPoint(index1); -} - -void btConvexHullShape::getVertex(int i,btVector3& vtx) const -{ - vtx = getScaledPoint(i); -} - -int btConvexHullShape::getNumPlanes() const -{ - return 0; -} - -void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const -{ - - btAssert(0); -} - -//not yet -bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const -{ - btAssert(0); - return false; -} - -///fills the dataBuffer and returns the struct name (and 0 on failure) -const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const -{ - //int szc = sizeof(btConvexHullShapeData); - btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer; - btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); - - int numElem = m_unscaledPoints.size(); - shapeData->m_numUnscaledPoints = numElem; -#ifdef BT_USE_DOUBLE_PRECISION - shapeData->m_unscaledPointsFloatPtr = 0; - shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; -#else - shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; - shapeData->m_unscaledPointsDoublePtr = 0; -#endif - - if (numElem) - { - int sz = sizeof(btVector3Data); - // int sz2 = sizeof(btVector3DoubleData); - // int sz3 = sizeof(btVector3FloatData); - btChunk* chunk = serializer->allocate(sz,numElem); - btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr; - for (int i=0;i<numElem;i++,memPtr++) - { - m_unscaledPoints[i].serialize(*memPtr); - } - serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]); - } - - // Fill padding with zeros to appease msan. - memset(shapeData->m_padding3, 0, sizeof(shapeData->m_padding3)); - - return "btConvexHullShapeData"; -} - -void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const -{ -#if 1 - minProj = FLT_MAX; - maxProj = -FLT_MAX; - - int numVerts = m_unscaledPoints.size(); - for(int i=0;i<numVerts;i++) - { - btVector3 vtx = m_unscaledPoints[i] * m_localScaling; - btVector3 pt = trans * vtx; - btScalar dp = pt.dot(dir); - if(dp < minProj) - { - minProj = dp; - witnesPtMin = pt; - } - if(dp > maxProj) - { - maxProj = dp; - witnesPtMax=pt; - } - } -#else - btVector3 localAxis = dir*trans.getBasis(); - witnesPtMin = trans(localGetSupportingVertex(localAxis)); - witnesPtMax = trans(localGetSupportingVertex(-localAxis)); - - minProj = witnesPtMin.dot(dir); - maxProj = witnesPtMax.dot(dir); -#endif - - if(minProj>maxProj) - { - btSwap(minProj,maxProj); - btSwap(witnesPtMin,witnesPtMax); - } - - -} - - |