| /* |
| 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. |
| */ |
| |
| #include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h" |
| #include "BulletCollision/CollisionShapes/btCollisionMargin.h" |
| |
| #include "LinearMath/btQuaternion.h" |
| |
| void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling) |
| { |
| m_localScaling = scaling; |
| recalcLocalAabb(); |
| } |
| |
| #ifndef __SPU__ |
| btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const |
| { |
| btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); |
| btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT); |
| |
| 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_numPoints;i++) |
| { |
| btVector3 vtx = getScaledPoint(i); |
| |
| newDot = vec.dot(vtx); |
| if (newDot > maxDot) |
| { |
| maxDot = newDot; |
| supVec = vtx; |
| } |
| } |
| return supVec; |
| } |
| |
| void btConvexPointCloudShape::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(-BT_LARGE_FLOAT); |
| } |
| } |
| for (int i=0;i<m_numPoints;i++) |
| { |
| btVector3 vtx = getScaledPoint(i); |
| |
| 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 btConvexPointCloudShape::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; |
| } |
| |
| |
| #endif |
| |
| |
| |
| |
| |
| |
| //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 btConvexPointCloudShape::getNumVertices() const |
| { |
| return m_numPoints; |
| } |
| |
| int btConvexPointCloudShape::getNumEdges() const |
| { |
| return 0; |
| } |
| |
| void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const |
| { |
| btAssert (0); |
| } |
| |
| void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const |
| { |
| vtx = m_unscaledPoints[i]*m_localScaling; |
| } |
| |
| int btConvexPointCloudShape::getNumPlanes() const |
| { |
| return 0; |
| } |
| |
| void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const |
| { |
| |
| btAssert(0); |
| } |
| |
| //not yet |
| bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const |
| { |
| btAssert(0); |
| return false; |
| } |
| |