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

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

/* /*
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty. 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. 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, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: 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. 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. 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. 3. This notice may not be removed or altered from any source distribution.
*/ */
///This file was written by Erwin Coumans ///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see ///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs ///And contact clipping based on work from Simon Hobbs
#include "btConvexPolyhedron.h" #include "btConvexPolyhedron.h"
#include "LinearMath/btHashMap.h" #include "LinearMath/btHashMap.h"
btConvexPolyhedron::btConvexPolyhedron() btConvexPolyhedron::btConvexPolyhedron()
{ {
} }
btConvexPolyhedron::~btConvexPolyhedron() btConvexPolyhedron::~btConvexPolyhedron()
{ {
} }
inline bool IsAlmostZero1(const btVector3& v)
inline bool IsAlmostZero(const btVector3& v)
{ {
if(btFabs(v.x())>1e-6 || btFabs(v.y())>1e-6 || btFabs(v.z())>1e-6) return false; if (btFabs(v.x()) > 1e-6 || btFabs(v.y()) > 1e-6 || btFabs(v.z()) > 1e-6) return false;
return true; return true;
} }
struct btInternalVertexPair struct btInternalVertexPair
{ {
btInternalVertexPair(short int v0,short int v1) btInternalVertexPair(short int v0, short int v1)
:m_v0(v0), : m_v0(v0),
m_v1(v1) m_v1(v1)
{ {
if (m_v1>m_v0) if (m_v1 > m_v0)
btSwap(m_v0,m_v1); btSwap(m_v0, m_v1);
} }
short int m_v0; short int m_v0;
short int m_v1; short int m_v1;
int getHash() const int getHash() const
{ {
return m_v0+(m_v1<<16); return m_v0 + (m_v1 << 16);
} }
bool equals(const btInternalVertexPair& other) const bool equals(const btInternalVertexPair& other) const
{ {
return m_v0==other.m_v0 && m_v1==other.m_v1; return m_v0 == other.m_v0 && m_v1 == other.m_v1;
} }
}; };
struct btInternalEdge struct btInternalEdge
{ {
btInternalEdge() btInternalEdge()
:m_face0(-1), : m_face0(-1),
m_face1(-1) m_face1(-1)
{ {
} }
short int m_face0; short int m_face0;
short int m_face1; short int m_face1;
}; };
// //
#ifdef TEST_INTERNAL_OBJECTS #ifdef TEST_INTERNAL_OBJECTS
bool btConvexPolyhedron::testContainment() const bool btConvexPolyhedron::testContainment() const
{ {
for(int p=0;p<8;p++) for (int p = 0; p < 8; p++)
{ {
btVector3 LocalPt; btVector3 LocalPt;
if(p==0) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]); if (p == 0)
else if(p==1) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]); LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
else if(p==2) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]); else if (p == 1)
else if(p==3) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]); LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
else if(p==4) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]); else if (p == 2)
else if(p==5) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]); LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
else if(p==6) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]); else if (p == 3)
else if(p==7) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]); LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
else if (p == 4)
LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
else if (p == 5)
LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
else if (p == 6)
LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
else if (p == 7)
LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
for(int i=0;i<m_faces.size();i++) for (int i = 0; i < m_faces.size(); i++)
{ {
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]); const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3]; const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
if(d>0.0f) if (d > 0.0f)
return false; return false;
} }
} }
return true; return true;
} }
#endif #endif
void btConvexPolyhedron::initialize() void btConvexPolyhedron::initialize()
{ {
btHashMap<btInternalVertexPair,btInternalEdge> edges; btHashMap<btInternalVertexPair, btInternalEdge> edges;
btScalar TotalArea = 0.0f;
m_localCenter.setValue(0, 0, 0);
for(int i=0;i<m_faces.size();i++) for (int i = 0; i < m_faces.size(); i++)
{ {
int numVertices = m_faces[i].m_indices.size(); int numVertices = m_faces[i].m_indices.size();
int NbTris = numVertices; int NbTris = numVertices;
for(int j=0;j<NbTris;j++) for (int j = 0; j < NbTris; j++)
{ {
int k = (j+1)%numVertices; int k = (j + 1) % numVertices;
btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]); btInternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find(vp); btInternalEdge* edptr = edges.find(vp);
btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0]; btVector3 edge = m_vertices[vp.m_v1] - m_vertices[vp.m_v0];
edge.normalize(); edge.normalize();
bool found = false; bool found = false;
for (int p=0;p<m_uniqueEdges.size();p++) for (int p = 0; p < m_uniqueEdges.size(); p++)
{ {
if (IsAlmostZero1(m_uniqueEdges[p] - edge) ||
if (IsAlmostZero(m_uniqueEdges[p]-edge) || IsAlmostZero1(m_uniqueEdges[p] + edge))
IsAlmostZero(m_uniqueEdges[p]+edge))
{ {
found = true; found = true;
break; break;
} }
} }
if (!found) if (!found)
{ {
m_uniqueEdges.push_back(edge); m_uniqueEdges.push_back(edge);
} }
if (edptr) if (edptr)
{ {
btAssert(edptr->m_face0>=0); btAssert(edptr->m_face0 >= 0);
btAssert(edptr->m_face1<0); btAssert(edptr->m_face1 < 0);
edptr->m_face1 = i; edptr->m_face1 = i;
} else }
else
{ {
btInternalEdge ed; btInternalEdge ed;
ed.m_face0 = i; ed.m_face0 = i;
edges.insert(vp,ed); edges.insert(vp, ed);
} }
} }
} }
#ifdef USE_CONNECTED_FACES #ifdef USE_CONNECTED_FACES
for(int i=0;i<m_faces.size();i++) for (int i = 0; i < m_faces.size(); i++)
{ {
int numVertices = m_faces[i].m_indices.size(); int numVertices = m_faces[i].m_indices.size();
m_faces[i].m_connectedFaces.resize(numVertices); m_faces[i].m_connectedFaces.resize(numVertices);
for(int j=0;j<numVertices;j++) for (int j = 0; j < numVertices; j++)
{ {
int k = (j+1)%numVertices; int k = (j + 1) % numVertices;
btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]); btInternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find(vp); btInternalEdge* edptr = edges.find(vp);
btAssert(edptr); btAssert(edptr);
btAssert(edptr->m_face0>=0); btAssert(edptr->m_face0 >= 0);
btAssert(edptr->m_face1>=0); btAssert(edptr->m_face1 >= 0);
int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0; int connectedFace = (edptr->m_face0 == i) ? edptr->m_face1 : edptr->m_face0;
m_faces[i].m_connectedFaces[j] = connectedFace; m_faces[i].m_connectedFaces[j] = connectedFace;
} }
} }
#endif//USE_CONNECTED_FACES #endif //USE_CONNECTED_FACES
initialize2();
}
void btConvexPolyhedron::initialize2()
{
m_localCenter.setValue(0, 0, 0);
btScalar TotalArea = 0.0f;
for(int i=0;i<m_faces.size();i++) for (int i = 0; i < m_faces.size(); i++)
{ {
int numVertices = m_faces[i].m_indices.size(); int numVertices = m_faces[i].m_indices.size();
int NbTris = numVertices-2; int NbTris = numVertices - 2;
const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]]; const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
for(int j=1;j<=NbTris;j++) for (int j = 1; j <= NbTris; j++)
{ {
int k = (j+1)%numVertices; int k = (j + 1) % numVertices;
const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]]; const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]]; const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f; btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
btVector3 Center = (p0+p1+p2)/3.0f; btVector3 Center = (p0 + p1 + p2) / 3.0f;
m_localCenter += Area * Center; m_localCenter += Area * Center;
TotalArea += Area; TotalArea += Area;
} }
} }
m_localCenter /= TotalArea; m_localCenter /= TotalArea;
#ifdef TEST_INTERNAL_OBJECTS #ifdef TEST_INTERNAL_OBJECTS
if(1) if (1)
{ {
m_radius = FLT_MAX; m_radius = FLT_MAX;
for(int i=0;i<m_faces.size();i++) for (int i = 0; i < m_faces.size(); i++)
{ {
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]); const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]); const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
if(dist<m_radius) if (dist < m_radius)
m_radius = dist; m_radius = dist;
} }
btScalar MinX = FLT_MAX; btScalar MinX = FLT_MAX;
btScalar MinY = FLT_MAX; btScalar MinY = FLT_MAX;
btScalar MinZ = FLT_MAX; btScalar MinZ = FLT_MAX;
btScalar MaxX = -FLT_MAX; btScalar MaxX = -FLT_MAX;
btScalar MaxY = -FLT_MAX; btScalar MaxY = -FLT_MAX;
btScalar MaxZ = -FLT_MAX; btScalar MaxZ = -FLT_MAX;
for(int i=0; i<m_vertices.size(); i++) for (int i = 0; i < m_vertices.size(); i++)
{ {
const btVector3& pt = m_vertices[i]; const btVector3& pt = m_vertices[i];
if(pt.x()<MinX) MinX = pt.x(); if (pt.x() < MinX) MinX = pt.x();
if(pt.x()>MaxX) MaxX = pt.x(); if (pt.x() > MaxX) MaxX = pt.x();
if(pt.y()<MinY) MinY = pt.y(); if (pt.y() < MinY) MinY = pt.y();
if(pt.y()>MaxY) MaxY = pt.y(); if (pt.y() > MaxY) MaxY = pt.y();
if(pt.z()<MinZ) MinZ = pt.z(); if (pt.z() < MinZ) MinZ = pt.z();
if(pt.z()>MaxZ) MaxZ = pt.z(); if (pt.z() > MaxZ) MaxZ = pt.z();
} }
mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ); mC.setValue(MaxX + MinX, MaxY + MinY, MaxZ + MinZ);
mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ); mE.setValue(MaxX - MinX, MaxY - MinY, MaxZ - MinZ);
// const btScalar r = m_radius / sqrtf(2.0f); // const btScalar r = m_radius / sqrtf(2.0f);
const btScalar r = m_radius / sqrtf(3.0f); const btScalar r = m_radius / sqrtf(3.0f);
const int LargestExtent = mE.maxAxis(); const int LargestExtent = mE.maxAxis();
const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f; const btScalar Step = (mE[LargestExtent] * 0.5f - r) / 1024.0f;
m_extents[0] = m_extents[1] = m_extents[2] = r; m_extents[0] = m_extents[1] = m_extents[2] = r;
m_extents[LargestExtent] = mE[LargestExtent]*0.5f; m_extents[LargestExtent] = mE[LargestExtent] * 0.5f;
bool FoundBox = false; bool FoundBox = false;
for(int j=0;j<1024;j++) for (int j = 0; j < 1024; j++)
{ {
if(testContainment()) if (testContainment())
{ {
FoundBox = true; FoundBox = true;
break; break;
} }
m_extents[LargestExtent] -= Step; m_extents[LargestExtent] -= Step;
} }
if(!FoundBox) if (!FoundBox)
{ {
m_extents[0] = m_extents[1] = m_extents[2] = r; m_extents[0] = m_extents[1] = m_extents[2] = r;
} }
else else
{ {
// Refine the box // Refine the box
const btScalar Step = (m_radius - r)/1024.0f; const btScalar Step = (m_radius - r) / 1024.0f;
const int e0 = (1<<LargestExtent) & 3; const int e0 = (1 << LargestExtent) & 3;
const int e1 = (1<<e0) & 3; const int e1 = (1 << e0) & 3;
for(int j=0;j<1024;j++) for (int j = 0; j < 1024; j++)
{ {
const btScalar Saved0 = m_extents[e0]; const btScalar Saved0 = m_extents[e0];
const btScalar Saved1 = m_extents[e1]; const btScalar Saved1 = m_extents[e1];
m_extents[e0] += Step; m_extents[e0] += Step;
m_extents[e1] += Step; m_extents[e1] += Step;
if(!testContainment()) if (!testContainment())
{ {
m_extents[e0] = Saved0; m_extents[e0] = Saved0;
m_extents[e1] = Saved1; m_extents[e1] = Saved1;
break; break;
} }
} }
} }
} }
#endif #endif
} }
void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const
{ {
minProj = FLT_MAX; minProj = FLT_MAX;
maxProj = -FLT_MAX; maxProj = -FLT_MAX;
int numVerts = m_vertices.size(); int numVerts = m_vertices.size();
for(int i=0;i<numVerts;i++) for (int i = 0; i < numVerts; i++)
{ {
btVector3 pt = trans * m_vertices[i]; btVector3 pt = trans * m_vertices[i];
btScalar dp = pt.dot(dir); btScalar dp = pt.dot(dir);
if(dp < minProj) if (dp < minProj)
{ {
minProj = dp; minProj = dp;
witnesPtMin = pt; witnesPtMin = pt;
} }
if(dp > maxProj) if (dp > maxProj)
{ {
maxProj = dp; maxProj = dp;
witnesPtMax = pt; witnesPtMax = pt;
} }
} }
if(minProj>maxProj) if (minProj > maxProj)
{ {
btSwap(minProj,maxProj); btSwap(minProj, maxProj);
btSwap(witnesPtMin,witnesPtMax); btSwap(witnesPtMin, witnesPtMax);
} }
} }