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diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
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+++ b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
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+/*
+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.
+*/
+
+#include "btConvexTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+
+#include "LinearMath/btQuaternion.h"
+#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
+
+
+btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
+: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
+{
+ m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
+ if ( calcAabb )
+ recalcLocalAabb();
+}
+
+
+
+
+///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
+///but then we are duplicating
+class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
+{
+
+ btVector3 m_supportVertexLocal;
+public:
+
+ btScalar m_maxDot;
+ btVector3 m_supportVecLocal;
+
+ LocalSupportVertexCallback(const btVector3& supportVecLocal)
+ : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
+ m_maxDot(btScalar(-BT_LARGE_FLOAT)),
+ m_supportVecLocal(supportVecLocal)
+ {
+ }
+
+ virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
+ {
+ (void)triangleIndex;
+ (void)partId;
+
+ for (int i=0;i<3;i++)
+ {
+ btScalar dot = m_supportVecLocal.dot(triangle[i]);
+ if (dot > m_maxDot)
+ {
+ m_maxDot = dot;
+ m_supportVertexLocal = triangle[i];
+ }
+ }
+ }
+
+ btVector3 GetSupportVertexLocal()
+ {
+ return m_supportVertexLocal;
+ }
+
+};
+
+
+
+
+
+btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+{
+ btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+
+ btVector3 vec = vec0;
+ btScalar lenSqr = vec.length2();
+ if (lenSqr < btScalar(0.0001))
+ {
+ vec.setValue(1,0,0);
+ } else
+ {
+ btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+ vec *= rlen;
+ }
+
+ LocalSupportVertexCallback supportCallback(vec);
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+ supVec = supportCallback.GetSupportVertexLocal();
+
+ return supVec;
+}
+
+void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+ //use 'w' component of supportVerticesOut?
+ {
+ for (int i=0;i<numVectors;i++)
+ {
+ supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
+ }
+ }
+
+ ///@todo: could do the batch inside the callback!
+
+
+ for (int j=0;j<numVectors;j++)
+ {
+ const btVector3& vec = vectors[j];
+ LocalSupportVertexCallback supportCallback(vec);
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+ supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
+ }
+
+}
+
+
+
+btVector3 btConvexTriangleMeshShape::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;
+}
+
+
+
+
+
+
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
+int btConvexTriangleMeshShape::getNumVertices() const
+{
+ //cache this?
+ return 0;
+
+}
+
+int btConvexTriangleMeshShape::getNumEdges() const
+{
+ return 0;
+}
+
+void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
+{
+ btAssert(0);
+}
+
+void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
+{
+ btAssert(0);
+}
+
+int btConvexTriangleMeshShape::getNumPlanes() const
+{
+ return 0;
+}
+
+void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const
+{
+ btAssert(0);
+}
+
+//not yet
+bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
+{
+ btAssert(0);
+ return false;
+}
+
+
+
+void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+{
+ m_stridingMesh->setScaling(scaling);
+
+ recalcLocalAabb();
+
+}
+
+
+const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
+{
+ return m_stridingMesh->getScaling();
+}
+
+void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
+{
+ class CenterCallback: public btInternalTriangleIndexCallback
+ {
+ bool first;
+ btVector3 ref;
+ btVector3 sum;
+ btScalar volume;
+
+ public:
+
+ CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
+ {
+ }
+
+ virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+ {
+ (void) triangleIndex;
+ (void) partId;
+ if (first)
+ {
+ ref = triangle[0];
+ first = false;
+ }
+ else
+ {
+ btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
+ sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
+ volume += vol;
+ }
+ }
+
+ btVector3 getCenter()
+ {
+ return (volume > 0) ? sum / volume : ref;
+ }
+
+ btScalar getVolume()
+ {
+ return volume * btScalar(1. / 6);
+ }
+
+ };
+
+ class InertiaCallback: public btInternalTriangleIndexCallback
+ {
+ btMatrix3x3 sum;
+ btVector3 center;
+
+ public:
+
+ InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
+ {
+ }
+
+ virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+ {
+ (void) triangleIndex;
+ (void) partId;
+ btMatrix3x3 i;
+ btVector3 a = triangle[0] - center;
+ btVector3 b = triangle[1] - center;
+ btVector3 c = triangle[2] - center;
+ btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
+ for (int j = 0; j < 3; j++)
+ {
+ for (int k = 0; k <= j; k++)
+ {
+ i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
+ + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
+ }
+ }
+ btScalar i00 = -i[0][0];
+ btScalar i11 = -i[1][1];
+ btScalar i22 = -i[2][2];
+ i[0][0] = i11 + i22;
+ i[1][1] = i22 + i00;
+ i[2][2] = i00 + i11;
+ sum[0] += i[0];
+ sum[1] += i[1];
+ sum[2] += i[2];
+ }
+
+ btMatrix3x3& getInertia()
+ {
+ return sum;
+ }
+
+ };
+
+ CenterCallback centerCallback;
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
+ btVector3 center = centerCallback.getCenter();
+ principal.setOrigin(center);
+ volume = centerCallback.getVolume();
+
+ InertiaCallback inertiaCallback(center);
+ m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
+
+ btMatrix3x3& i = inertiaCallback.getInertia();
+ i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
+ inertia.setValue(i[0][0], i[1][1], i[2][2]);
+ inertia /= volume;
+}
+
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-19 23:21:30 +0000