171 lines
6.3 KiB
C++
171 lines
6.3 KiB
C++
|
/*
|
||
|
|
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.
|
||
|
|
*/
|
||
|
|
|
||
|
|
//btShapeHull was implemented by John McCutchan.
|
||
|
|
|
||
|
|
|
||
|
|
#include "btShapeHull.h"
|
||
|
|
#include "LinearMath/btConvexHull.h"
|
||
|
|
|
||
|
|
#define NUM_UNITSPHERE_POINTS 42
|
||
|
|
|
||
|
|
btShapeHull::btShapeHull (const btConvexShape* shape)
|
||
|
|
{
|
||
|
|
m_shape = shape;
|
||
|
|
m_vertices.clear ();
|
||
|
|
m_indices.clear();
|
||
|
|
m_numIndices = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
btShapeHull::~btShapeHull ()
|
||
|
|
{
|
||
|
|
m_indices.clear();
|
||
|
|
m_vertices.clear ();
|
||
|
|
}
|
||
|
|
|
||
|
|
bool
|
||
|
|
btShapeHull::buildHull (btScalar /*margin*/)
|
||
|
|
{
|
||
|
|
int numSampleDirections = NUM_UNITSPHERE_POINTS;
|
||
|
|
{
|
||
|
|
int numPDA = m_shape->getNumPreferredPenetrationDirections();
|
||
|
|
if (numPDA)
|
||
|
|
{
|
||
|
|
for (int i=0;i<numPDA;i++)
|
||
|
|
{
|
||
|
|
btVector3 norm;
|
||
|
|
m_shape->getPreferredPenetrationDirection(i,norm);
|
||
|
|
getUnitSpherePoints()[numSampleDirections] = norm;
|
||
|
|
numSampleDirections++;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||
|
|
int i;
|
||
|
|
for (i = 0; i < numSampleDirections; i++)
|
||
|
|
{
|
||
|
|
supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
HullDesc hd;
|
||
|
|
hd.mFlags = QF_TRIANGLES;
|
||
|
|
hd.mVcount = static_cast<unsigned int>(numSampleDirections);
|
||
|
|
|
||
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
||
|
|
hd.mVertices = &supportPoints[0];
|
||
|
|
hd.mVertexStride = sizeof(btVector3);
|
||
|
|
#else
|
||
|
|
hd.mVertices = &supportPoints[0];
|
||
|
|
hd.mVertexStride = sizeof (btVector3);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
HullLibrary hl;
|
||
|
|
HullResult hr;
|
||
|
|
if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
|
||
|
|
{
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
|
||
|
|
|
||
|
|
|
||
|
|
for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
|
||
|
|
{
|
||
|
|
m_vertices[i] = hr.m_OutputVertices[i];
|
||
|
|
}
|
||
|
|
m_numIndices = hr.mNumIndices;
|
||
|
|
m_indices.resize(static_cast<int>(m_numIndices));
|
||
|
|
for (i = 0; i < static_cast<int>(m_numIndices); i++)
|
||
|
|
{
|
||
|
|
m_indices[i] = hr.m_Indices[i];
|
||
|
|
}
|
||
|
|
|
||
|
|
// free temporary hull result that we just copied
|
||
|
|
hl.ReleaseResult (hr);
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
int
|
||
|
|
btShapeHull::numTriangles () const
|
||
|
|
{
|
||
|
|
return static_cast<int>(m_numIndices / 3);
|
||
|
|
}
|
||
|
|
|
||
|
|
int
|
||
|
|
btShapeHull::numVertices () const
|
||
|
|
{
|
||
|
|
return m_vertices.size ();
|
||
|
|
}
|
||
|
|
|
||
|
|
int
|
||
|
|
btShapeHull::numIndices () const
|
||
|
|
{
|
||
|
|
return static_cast<int>(m_numIndices);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
btVector3* btShapeHull::getUnitSpherePoints()
|
||
|
|
{
|
||
|
|
static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
|
||
|
|
{
|
||
|
|
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
|
||
|
|
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
|
||
|
|
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
|
||
|
|
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
|
||
|
|
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
|
||
|
|
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
|
||
|
|
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
|
||
|
|
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
|
||
|
|
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
|
||
|
|
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
|
||
|
|
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
|
||
|
|
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
|
||
|
|
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
|
||
|
|
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
|
||
|
|
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
|
||
|
|
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
|
||
|
|
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
|
||
|
|
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
|
||
|
|
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
|
||
|
|
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
|
||
|
|
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
|
||
|
|
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
|
||
|
|
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
|
||
|
|
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
|
||
|
|
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||
|
|
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
|
||
|
|
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||
|
|
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
|
||
|
|
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
|
||
|
|
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||
|
|
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
|
||
|
|
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||
|
|
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
|
||
|
|
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
|
||
|
|
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
|
||
|
|
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
|
||
|
|
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
|
||
|
|
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
|
||
|
|
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
|
||
|
|
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
|
||
|
|
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
|
||
|
|
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
|
||
|
|
};
|
||
|
|
return sUnitSpherePoints;
|
||
|
|
}
|
||
|
|
|