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Diffstat (limited to 'thirdparty/bullet/src/LinearMath/btGeometryUtil.cpp')
| -rw-r--r-- | thirdparty/bullet/src/LinearMath/btGeometryUtil.cpp | 185 |
1 files changed, 0 insertions, 185 deletions
diff --git a/thirdparty/bullet/src/LinearMath/btGeometryUtil.cpp b/thirdparty/bullet/src/LinearMath/btGeometryUtil.cpp deleted file mode 100644 index 5ac230f712..0000000000 --- a/thirdparty/bullet/src/LinearMath/btGeometryUtil.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 "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 () {} -} - - -bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin) -{ - int numbrushes = planeEquations.size(); - 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.)) - { - return false; - } - } - return true; - -} - - -bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin) -{ - int numvertices = vertices.size(); - 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.)) - { - return false; - } - } - return true; -} - -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++) - { - 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 ) -{ - const int numvertices = vertices.size(); - // brute force: - for (int i=0;i<numvertices;i++) - { - const btVector3& N1 = vertices[i]; - - - for (int j=i+1;j<numvertices;j++) - { - const btVector3& N2 = vertices[j]; - - for (int k=j+1;k<numvertices;k++) - { - - const btVector3& N3 = vertices[k]; - - btVector3 planeEquation,edge0,edge1; - edge0 = N2-N1; - edge1 = N3-N1; - btScalar normalSign = btScalar(1.); - for (int ww=0;ww<2;ww++) - { - planeEquation = normalSign * edge0.cross(edge1); - if (planeEquation.length2() > btScalar(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,btScalar(0.01))) - { - planeEquationsOut.push_back(planeEquation); - } - } - } - normalSign = btScalar(-1.); - } - - } - } - } - -} - -void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations , btAlignedObjectArray<btVector3>& verticesOut ) -{ - const int numbrushes = planeEquations.size(); - // brute force: - for (int i=0;i<numbrushes;i++) - { - const btVector3& N1 = planeEquations[i]; - - - for (int j=i+1;j<numbrushes;j++) - { - const btVector3& N2 = planeEquations[j]; - - 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) ) ) - { - //point P out of 3 plane equations: - - // d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 ) - //P = ------------------------------------------------------------------------- - // N1 . ( N2 * N3 ) - - - btScalar quotient = (N1.dot(n2n3)); - if (btFabs(quotient) > btScalar(0.000001)) - { - quotient = btScalar(-1.) / quotient; - n2n3 *= N1[3]; - n3n1 *= N2[3]; - n1n2 *= N3[3]; - btVector3 potentialVertex = n2n3; - potentialVertex += n3n1; - potentialVertex += n1n2; - potentialVertex *= quotient; - - //check if inside, and replace supportingVertexOut if needed - if (isPointInsidePlanes(planeEquations,potentialVertex,btScalar(0.01))) - { - verticesOut.push_back(potentialVertex); - } - } - } - } - } - } -} - |