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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp')
-rw-r--r--thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp303
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diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
deleted file mode 100644
index 4f45319a83..0000000000
--- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
+++ /dev/null
@@ -1,303 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Advanced Micro Devices, Inc. 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.
-*/
-
-
-///This file was written by Erwin Coumans
-///Separating axis rest based on work from Pierre Terdiman, see
-///And contact clipping based on work from Simon Hobbs
-
-#include "btConvexPolyhedron.h"
-#include "LinearMath/btHashMap.h"
-
-
-btConvexPolyhedron::btConvexPolyhedron()
-{
-
-}
-btConvexPolyhedron::~btConvexPolyhedron()
-{
-
-}
-
-
-inline bool IsAlmostZero(const btVector3& v)
-{
- if(btFabs(v.x())>1e-6 || btFabs(v.y())>1e-6 || btFabs(v.z())>1e-6) return false;
- return true;
-}
-
-struct btInternalVertexPair
-{
- btInternalVertexPair(short int v0,short int v1)
- :m_v0(v0),
- m_v1(v1)
- {
- if (m_v1>m_v0)
- btSwap(m_v0,m_v1);
- }
- short int m_v0;
- short int m_v1;
- int getHash() const
- {
- return m_v0+(m_v1<<16);
- }
- bool equals(const btInternalVertexPair& other) const
- {
- return m_v0==other.m_v0 && m_v1==other.m_v1;
- }
-};
-
-struct btInternalEdge
-{
- btInternalEdge()
- :m_face0(-1),
- m_face1(-1)
- {
- }
- short int m_face0;
- short int m_face1;
-};
-
-//
-
-#ifdef TEST_INTERNAL_OBJECTS
-bool btConvexPolyhedron::testContainment() const
-{
- for(int p=0;p<8;p++)
- {
- btVector3 LocalPt;
- if(p==0) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
- else if(p==1) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
- else if(p==2) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
- else if(p==3) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
- else if(p==4) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
- else if(p==5) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
- else if(p==6) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
- else if(p==7) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
-
- for(int i=0;i<m_faces.size();i++)
- {
- const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
- const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
- if(d>0.0f)
- return false;
- }
- }
- return true;
-}
-#endif
-
-void btConvexPolyhedron::initialize()
-{
-
- btHashMap<btInternalVertexPair,btInternalEdge> edges;
-
- btScalar TotalArea = 0.0f;
-
- m_localCenter.setValue(0, 0, 0);
- for(int i=0;i<m_faces.size();i++)
- {
- int numVertices = m_faces[i].m_indices.size();
- int NbTris = numVertices;
- for(int j=0;j<NbTris;j++)
- {
- int k = (j+1)%numVertices;
- btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
- btInternalEdge* edptr = edges.find(vp);
- btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
- edge.normalize();
-
- bool found = false;
-
- for (int p=0;p<m_uniqueEdges.size();p++)
- {
-
- if (IsAlmostZero(m_uniqueEdges[p]-edge) ||
- IsAlmostZero(m_uniqueEdges[p]+edge))
- {
- found = true;
- break;
- }
- }
-
- if (!found)
- {
- m_uniqueEdges.push_back(edge);
- }
-
- if (edptr)
- {
- btAssert(edptr->m_face0>=0);
- btAssert(edptr->m_face1<0);
- edptr->m_face1 = i;
- } else
- {
- btInternalEdge ed;
- ed.m_face0 = i;
- edges.insert(vp,ed);
- }
- }
- }
-
-#ifdef USE_CONNECTED_FACES
- for(int i=0;i<m_faces.size();i++)
- {
- int numVertices = m_faces[i].m_indices.size();
- m_faces[i].m_connectedFaces.resize(numVertices);
-
- for(int j=0;j<numVertices;j++)
- {
- int k = (j+1)%numVertices;
- btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
- btInternalEdge* edptr = edges.find(vp);
- btAssert(edptr);
- btAssert(edptr->m_face0>=0);
- btAssert(edptr->m_face1>=0);
-
- int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
- m_faces[i].m_connectedFaces[j] = connectedFace;
- }
- }
-#endif//USE_CONNECTED_FACES
-
- for(int i=0;i<m_faces.size();i++)
- {
- int numVertices = m_faces[i].m_indices.size();
- int NbTris = numVertices-2;
-
- const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
- for(int j=1;j<=NbTris;j++)
- {
- int k = (j+1)%numVertices;
- const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
- const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
- btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
- btVector3 Center = (p0+p1+p2)/3.0f;
- m_localCenter += Area * Center;
- TotalArea += Area;
- }
- }
- m_localCenter /= TotalArea;
-
-
-
-
-#ifdef TEST_INTERNAL_OBJECTS
- if(1)
- {
- m_radius = FLT_MAX;
- for(int i=0;i<m_faces.size();i++)
- {
- const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
- const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
- if(dist<m_radius)
- m_radius = dist;
- }
-
-
- btScalar MinX = FLT_MAX;
- btScalar MinY = FLT_MAX;
- btScalar MinZ = FLT_MAX;
- btScalar MaxX = -FLT_MAX;
- btScalar MaxY = -FLT_MAX;
- btScalar MaxZ = -FLT_MAX;
- for(int i=0; i<m_vertices.size(); i++)
- {
- const btVector3& pt = m_vertices[i];
- if(pt.x()<MinX) MinX = pt.x();
- if(pt.x()>MaxX) MaxX = pt.x();
- if(pt.y()<MinY) MinY = pt.y();
- if(pt.y()>MaxY) MaxY = pt.y();
- if(pt.z()<MinZ) MinZ = pt.z();
- if(pt.z()>MaxZ) MaxZ = pt.z();
- }
- mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
- mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
-
-
-
-// const btScalar r = m_radius / sqrtf(2.0f);
- const btScalar r = m_radius / sqrtf(3.0f);
- const int LargestExtent = mE.maxAxis();
- const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
- m_extents[0] = m_extents[1] = m_extents[2] = r;
- m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
- bool FoundBox = false;
- for(int j=0;j<1024;j++)
- {
- if(testContainment())
- {
- FoundBox = true;
- break;
- }
-
- m_extents[LargestExtent] -= Step;
- }
- if(!FoundBox)
- {
- m_extents[0] = m_extents[1] = m_extents[2] = r;
- }
- else
- {
- // Refine the box
- const btScalar Step = (m_radius - r)/1024.0f;
- const int e0 = (1<<LargestExtent) & 3;
- const int e1 = (1<<e0) & 3;
-
- for(int j=0;j<1024;j++)
- {
- const btScalar Saved0 = m_extents[e0];
- const btScalar Saved1 = m_extents[e1];
- m_extents[e0] += Step;
- m_extents[e1] += Step;
-
- if(!testContainment())
- {
- m_extents[e0] = Saved0;
- m_extents[e1] = Saved1;
- break;
- }
- }
- }
- }
-#endif
-}
-
-void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
-{
- minProj = FLT_MAX;
- maxProj = -FLT_MAX;
- int numVerts = m_vertices.size();
- for(int i=0;i<numVerts;i++)
- {
- btVector3 pt = trans * m_vertices[i];
- btScalar dp = pt.dot(dir);
- if(dp < minProj)
- {
- minProj = dp;
- witnesPtMin = pt;
- }
- if(dp > maxProj)
- {
- maxProj = dp;
- witnesPtMax = pt;
- }
- }
- if(minProj>maxProj)
- {
- btSwap(minProj,maxProj);
- btSwap(witnesPtMin,witnesPtMax);
- }
-}
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