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#ifndef B3_SUPPORT_MAPPINGS_H
#define B3_SUPPORT_MAPPINGS_H
#include "Bullet3Common/b3Transform.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "b3VectorFloat4.h"
struct b3GjkPairDetector;
inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec,const struct b3ConvexPolyhedronData* hull,
const b3AlignedObjectArray<b3Vector3>& verticesA, b3Scalar margin)
{
b3Vector3 supVec = b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
b3Scalar maxDot = b3Scalar(-B3_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 < hull->m_numVertices )
{
const b3Vector3 scaled = supportVec;
int index = (int) scaled.maxDot( &verticesA[hull->m_vertexOffset], hull->m_numVertices, maxDot);
return verticesA[hull->m_vertexOffset+index];
}
return supVec;
}
inline b3Vector3 localGetSupportVertexWithoutMargin(const float4& supportVec,const struct b3ConvexPolyhedronData* hull,
const b3AlignedObjectArray<b3Vector3>& verticesA)
{
return localGetSupportVertexWithMargin(supportVec,hull,verticesA,0.f);
}
#endif //B3_SUPPORT_MAPPINGS_H
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