140 lines
4 KiB
C++
140 lines
4 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btConvexPointCloudShape.h"
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
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#include "LinearMath/btQuaternion.h"
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void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
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{
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m_localScaling = scaling;
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recalcLocalAabb();
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}
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#ifndef __SPU__
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btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
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{
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btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
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btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
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}
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if( m_numPoints > 0 )
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{
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// Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
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// btVector3 scaled = vec * m_localScaling;
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int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints
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return getScaledPoint(index);
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}
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return supVec;
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}
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void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
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{
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for( int j = 0; j < numVectors; j++ )
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{
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const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c)
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btScalar maxDot;
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int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);
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supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
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if( 0 <= index )
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{
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//WARNING: don't swap next lines, the w component would get overwritten!
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supportVerticesOut[j] = getScaledPoint(index);
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supportVerticesOut[j][3] = maxDot;
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}
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}
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}
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btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
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{
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btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
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if ( getMargin()!=btScalar(0.) )
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{
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btVector3 vecnorm = vec;
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if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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{
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vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
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}
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vecnorm.normalize();
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supVertex+= getMargin() * vecnorm;
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}
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return supVertex;
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}
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#endif
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//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
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//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
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int btConvexPointCloudShape::getNumVertices() const
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{
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return m_numPoints;
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}
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int btConvexPointCloudShape::getNumEdges() const
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{
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return 0;
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}
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void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
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{
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btAssert (0);
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}
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void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
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{
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vtx = m_unscaledPoints[i]*m_localScaling;
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}
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int btConvexPointCloudShape::getNumPlanes() const
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{
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return 0;
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}
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void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
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{
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btAssert(0);
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}
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//not yet
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bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
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{
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btAssert(0);
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return false;
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}
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