Bullet Collision Detection & Physics Library
btConvexPointCloudShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
18
20
22{
23 m_localScaling = scaling;
25}
26
27#ifndef __SPU__
29{
30 btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
32
33 btVector3 vec = vec0;
34 btScalar lenSqr = vec.length2();
35 if (lenSqr < btScalar(0.0001))
36 {
37 vec.setValue(1,0,0);
38 } else
39 {
40 btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
41 vec *= rlen;
42 }
43
44 if( m_numPoints > 0 )
45 {
46 // 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.
47 // btVector3 scaled = vec * m_localScaling;
48 int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints
49 return getScaledPoint(index);
50 }
51
52 return supVec;
53}
54
55void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
56{
57 for( int j = 0; j < numVectors; j++ )
58 {
59 const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c)
60 btScalar maxDot;
61 int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);
62 supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
63 if( 0 <= index )
64 {
65 //WARNING: don't swap next lines, the w component would get overwritten!
66 supportVerticesOut[j] = getScaledPoint(index);
67 supportVerticesOut[j][3] = maxDot;
68 }
69 }
70
71}
72
73
74
76{
78
79 if ( getMargin()!=btScalar(0.) )
80 {
81 btVector3 vecnorm = vec;
82 if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
83 {
84 vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
85 }
86 vecnorm.normalize();
87 supVertex+= getMargin() * vecnorm;
88 }
89 return supVertex;
90}
91
92
93#endif
94
95
96
97
98
99
100//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
101//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
103{
104 return m_numPoints;
105}
106
108{
109 return 0;
110}
111
113{
114 btAssert (0);
115}
116
118{
120}
121
123{
124 return 0;
125}
126
128{
129
130 btAssert(0);
131}
132
133//not yet
135{
136 btAssert(0);
137 return false;
138}
139
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define BT_LARGE_FLOAT
Definition: btScalar.h:294
btScalar btSqrt(btScalar y)
Definition: btScalar.h:444
#define SIMD_EPSILON
Definition: btScalar.h:521
#define btAssert(x)
Definition: btScalar.h:131
virtual btScalar getMargin() const
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
btVector3 getScaledPoint(int index) const
virtual void setLocalScaling(const btVector3 &scaling)
in case we receive negative scaling
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
virtual void getVertex(int i, btVector3 &vtx) const
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
long maxDot(const btVector3 *array, long array_count, btScalar &dotOut) const
returns index of maximum dot product between this and vectors in array[]
Definition: btVector3.h:1013
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:257
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:309