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Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp

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extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp

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void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling) void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
{ {
m_localScaling = scaling; m_localScaling = scaling;
recalcLocalAabb(); recalcLocalAabb();
} }
#ifndef __SPU__ #ifndef __SPU__
btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
{ {
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
btScalar maxDot = btScalar(-BT_LARGE_FLOAT); btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec = vec0; btVector3 vec = vec0;
btScalar lenSqr = vec.length2(); btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001)) if (lenSqr < btScalar(0.0001))
{ {
vec.setValue(1,0,0); vec.setValue(1, 0, 0);
} else }
else
{ {
btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
vec *= rlen; vec *= rlen;
} }
if( m_numPoints > 0 ) if (m_numPoints > 0)
{ {
// 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. // 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.
// btVector3 scaled = vec * m_localScaling; // btVector3 scaled = vec * m_localScaling;
int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints
return getScaledPoint(index); return getScaledPoint(index);
} }
return supVec; return supVec;
} }
void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{ {
for( int j = 0; j < numVectors; j++ ) for (int j = 0; j < numVectors; j++)
{ {
const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c) const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c)
btScalar maxDot; btScalar maxDot;
int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);
supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT); supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
if( 0 <= index ) if (0 <= index)
{ {
//WARNING: don't swap next lines, the w component would get overwritten! //WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[j] = getScaledPoint(index); supportVerticesOut[j] = getScaledPoint(index);
supportVerticesOut[j][3] = maxDot; supportVerticesOut[j][3] = maxDot;
} }
} }
} }
btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec) const
{ {
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) ) if (getMargin() != btScalar(0.))
{ {
btVector3 vecnorm = vec; btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
{ {
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
} }
vecnorm.normalize(); vecnorm.normalize();
supVertex+= getMargin() * vecnorm; supVertex += getMargin() * vecnorm;
} }
return supVertex; return supVertex;
} }
#endif #endif
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection //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 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
int btConvexPointCloudShape::getNumVertices() const int btConvexPointCloudShape::getNumVertices() const
{ {
return m_numPoints; return m_numPoints;
} }
int btConvexPointCloudShape::getNumEdges() const int btConvexPointCloudShape::getNumEdges() const
{ {
return 0; return 0;
} }
void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const void btConvexPointCloudShape::getEdge(int i, btVector3& pa, btVector3& pb) const
{ {
btAssert (0); btAssert(0);
} }
void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const void btConvexPointCloudShape::getVertex(int i, btVector3& vtx) const
{ {
vtx = m_unscaledPoints[i]*m_localScaling; vtx = m_unscaledPoints[i] * m_localScaling;
} }
int btConvexPointCloudShape::getNumPlanes() const int btConvexPointCloudShape::getNumPlanes() const
{ {
return 0; return 0;
} }
void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const void btConvexPointCloudShape::getPlane(btVector3&, btVector3&, int) const
{ {
btAssert(0); btAssert(0);
} }
//not yet //not yet
bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const bool btConvexPointCloudShape::isInside(const btVector3&, btScalar) const
{ {
btAssert(0); btAssert(0);
return false; return false;
} }