180 lines
4.3 KiB
C++
180 lines
4.3 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 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 "btConvexHullShape.h"
|
|
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
|
|
|
|
#include "LinearMath/btQuaternion.h"
|
|
|
|
|
|
|
|
btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride)
|
|
{
|
|
m_points.resize(numPoints);
|
|
|
|
unsigned char* pointsBaseAddress = (unsigned char*)points;
|
|
|
|
for (int i=0;i<numPoints;i++)
|
|
{
|
|
btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride);
|
|
m_points[i] = point[0];
|
|
}
|
|
|
|
recalcLocalAabb();
|
|
|
|
}
|
|
|
|
|
|
void btConvexHullShape::addPoint(const btPoint3& point)
|
|
{
|
|
m_points.push_back(point);
|
|
recalcLocalAabb();
|
|
|
|
}
|
|
|
|
btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
|
|
{
|
|
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
|
|
btScalar newDot,maxDot = btScalar(-1e30);
|
|
|
|
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;
|
|
}
|
|
|
|
|
|
for (int i=0;i<m_points.size();i++)
|
|
{
|
|
btPoint3 vtx = m_points[i] * m_localScaling;
|
|
|
|
newDot = vec.dot(vtx);
|
|
if (newDot > maxDot)
|
|
{
|
|
maxDot = newDot;
|
|
supVec = vtx;
|
|
}
|
|
}
|
|
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(-1e30);
|
|
}
|
|
}
|
|
for (int i=0;i<m_points.size();i++)
|
|
{
|
|
btPoint3 vtx = m_points[i] * m_localScaling;
|
|
|
|
for (int j=0;j<numVectors;j++)
|
|
{
|
|
const btVector3& vec = vectors[j];
|
|
|
|
newDot = vec.dot(vtx);
|
|
if (newDot > supportVerticesOut[j][3])
|
|
{
|
|
//WARNING: don't swap next lines, the w component would get overwritten!
|
|
supportVerticesOut[j] = vtx;
|
|
supportVerticesOut[j][3] = newDot;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
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;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//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_points.size();
|
|
}
|
|
|
|
int btConvexHullShape::getNumEdges() const
|
|
{
|
|
return m_points.size();
|
|
}
|
|
|
|
void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
|
|
{
|
|
|
|
int index0 = i%m_points.size();
|
|
int index1 = (i+1)%m_points.size();
|
|
pa = m_points[index0]*m_localScaling;
|
|
pb = m_points[index1]*m_localScaling;
|
|
}
|
|
|
|
void btConvexHullShape::getVertex(int i,btPoint3& vtx) const
|
|
{
|
|
vtx = m_points[i]*m_localScaling;
|
|
}
|
|
|
|
int btConvexHullShape::getNumPlanes() const
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
void btConvexHullShape::getPlane(btVector3& ,btPoint3& ,int ) const
|
|
{
|
|
|
|
btAssert(0);
|
|
}
|
|
|
|
//not yet
|
|
bool btConvexHullShape::isInside(const btPoint3& ,btScalar ) const
|
|
{
|
|
assert(0);
|
|
return false;
|
|
}
|
|
|