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

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

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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. 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.
*/ */
#include "btTetrahedronShape.h" #include "btTetrahedronShape.h"
#include "LinearMath/btMatrix3x3.h" #include "LinearMath/btMatrix3x3.h"
btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (), btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape(),
m_numVertices(0) m_numVertices(0)
{ {
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
} }
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (), btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape(),
m_numVertices(0) m_numVertices(0)
{ {
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
addVertex(pt0); addVertex(pt0);
} }
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (), btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1) : btPolyhedralConvexAabbCachingShape(),
m_numVertices(0) m_numVertices(0)
{ {
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
addVertex(pt0); addVertex(pt0);
addVertex(pt1); addVertex(pt1);
} }
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (), btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2) : btPolyhedralConvexAabbCachingShape(),
m_numVertices(0) m_numVertices(0)
{ {
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
addVertex(pt0); addVertex(pt0);
addVertex(pt1); addVertex(pt1);
addVertex(pt2); addVertex(pt2);
} }
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (), btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3) : btPolyhedralConvexAabbCachingShape(),
m_numVertices(0) m_numVertices(0)
{ {
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
addVertex(pt0); addVertex(pt0);
addVertex(pt1); addVertex(pt1);
addVertex(pt2); addVertex(pt2);
addVertex(pt3); addVertex(pt3);
} }
void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const void btBU_Simplex1to4::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{ {
#if 1 #if 1
btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax); btPolyhedralConvexAabbCachingShape::getAabb(t, aabbMin, aabbMax);
#else #else
aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); aabbMin.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); aabbMax.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
//just transform the vertices in worldspace, and take their AABB //just transform the vertices in worldspace, and take their AABB
for (int i=0;i<m_numVertices;i++) for (int i = 0; i < m_numVertices; i++)
{ {
btVector3 worldVertex = t(m_vertices[i]); btVector3 worldVertex = t(m_vertices[i]);
aabbMin.setMin(worldVertex); aabbMin.setMin(worldVertex);
aabbMax.setMax(worldVertex); aabbMax.setMax(worldVertex);
} }
#endif #endif
} }
void btBU_Simplex1to4::addVertex(const btVector3& pt) void btBU_Simplex1to4::addVertex(const btVector3& pt)
{ {
m_vertices[m_numVertices++] = pt; m_vertices[m_numVertices++] = pt;
recalcLocalAabb(); recalcLocalAabb();
} }
int btBU_Simplex1to4::getNumVertices() const int btBU_Simplex1to4::getNumVertices() const
{ {
return m_numVertices; return m_numVertices;
} }
int btBU_Simplex1to4::getNumEdges() const int btBU_Simplex1to4::getNumEdges() const
{ {
//euler formula, F-E+V = 2, so E = F+V-2 //euler formula, F-E+V = 2, so E = F+V-2
switch (m_numVertices) switch (m_numVertices)
{ {
case 0: case 0:
return 0; return 0;
case 1: return 0; case 1:
case 2: return 1; return 0;
case 3: return 3; case 2:
case 4: return 6; return 1;
case 3:
return 3;
case 4:
return 6;
} }
return 0; return 0;
} }
void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const void btBU_Simplex1to4::getEdge(int i, btVector3& pa, btVector3& pb) const
{ {
switch (m_numVertices) switch (m_numVertices)
{ {
case 2: case 2:
pa = m_vertices[0]; pa = m_vertices[0];
pb = m_vertices[1]; pb = m_vertices[1];
break; break;
case 3: case 3:
switch (i) switch (i)
{ {
case 0: case 0:
pa = m_vertices[0]; pa = m_vertices[0];
pb = m_vertices[1]; pb = m_vertices[1];
break; break;
case 1: case 1:
pa = m_vertices[1]; pa = m_vertices[1];
pb = m_vertices[2]; pb = m_vertices[2];
break; break;
case 2: case 2:
pa = m_vertices[2]; pa = m_vertices[2];
pb = m_vertices[0]; pb = m_vertices[0];
break; break;
} }
break; break;
case 4: case 4:
switch (i) switch (i)
{ {
case 0: case 0:
pa = m_vertices[0]; pa = m_vertices[0];
pb = m_vertices[1]; pb = m_vertices[1];
break; break;
case 1: case 1:
pa = m_vertices[1]; pa = m_vertices[1];
pb = m_vertices[2]; pb = m_vertices[2];
break; break;
case 2: case 2:
pa = m_vertices[2]; pa = m_vertices[2];
pb = m_vertices[0]; pb = m_vertices[0];
break; break;
case 3: case 3:
pa = m_vertices[0]; pa = m_vertices[0];
pb = m_vertices[3]; pb = m_vertices[3];
break; break;
case 4: case 4:
pa = m_vertices[1]; pa = m_vertices[1];
pb = m_vertices[3]; pb = m_vertices[3];
break; break;
case 5: case 5:
pa = m_vertices[2]; pa = m_vertices[2];
pb = m_vertices[3]; pb = m_vertices[3];
break; break;
} }
} }
} }
void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const void btBU_Simplex1to4::getVertex(int i, btVector3& vtx) const
{ {
vtx = m_vertices[i]; vtx = m_vertices[i];
} }
int btBU_Simplex1to4::getNumPlanes() const int btBU_Simplex1to4::getNumPlanes() const
{ {
switch (m_numVertices) switch (m_numVertices)
{ {
case 0: case 0:
return 0; return 0;
case 1: case 1:
return 0; return 0;
case 2: case 2:
return 0; return 0;
case 3: case 3:
return 2; return 2;
case 4: case 4:
return 4; return 4;
default: default:
{ {
} }
} }
return 0; return 0;
} }
void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const void btBU_Simplex1to4::getPlane(btVector3&, btVector3&, int) const
{ {
} }
int btBU_Simplex1to4::getIndex(int ) const int btBU_Simplex1to4::getIndex(int) const
{ {
return 0; return 0;
} }
bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const bool btBU_Simplex1to4::isInside(const btVector3&, btScalar) const
{ {
return false; return false;
} }