Bullet Collision Detection & Physics Library
btShapeHull.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
16//btShapeHull was implemented by John McCutchan.
17
18
19#include "btShapeHull.h"
21
22#define NUM_UNITSPHERE_POINTS 42
23
25{
26 m_shape = shape;
29 m_numIndices = 0;
30}
31
33{
36}
37
38bool
40{
41 int numSampleDirections = NUM_UNITSPHERE_POINTS;
42 {
44 if (numPDA)
45 {
46 for (int i=0;i<numPDA;i++)
47 {
48 btVector3 norm;
50 getUnitSpherePoints()[numSampleDirections] = norm;
51 numSampleDirections++;
52 }
53 }
54 }
55
57 int i;
58 for (i = 0; i < numSampleDirections; i++)
59 {
61 }
62
63 HullDesc hd;
65 hd.mVcount = static_cast<unsigned int>(numSampleDirections);
66
67#ifdef BT_USE_DOUBLE_PRECISION
68 hd.mVertices = &supportPoints[0];
69 hd.mVertexStride = sizeof(btVector3);
70#else
71 hd.mVertices = &supportPoints[0];
72 hd.mVertexStride = sizeof (btVector3);
73#endif
74
75 HullLibrary hl;
76 HullResult hr;
77 if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
78 {
79 return false;
80 }
81
82 m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
83
84
85 for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
86 {
88 }
90 m_indices.resize(static_cast<int>(m_numIndices));
91 for (i = 0; i < static_cast<int>(m_numIndices); i++)
92 {
93 m_indices[i] = hr.m_Indices[i];
94 }
95
96 // free temporary hull result that we just copied
97 hl.ReleaseResult (hr);
98
99 return true;
100}
101
102int
104{
105 return static_cast<int>(m_numIndices / 3);
106}
107
108int
110{
111 return m_vertices.size ();
112}
113
114int
116{
117 return static_cast<int>(m_numIndices);
118}
119
120
122{
124 {
125 btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
126 btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
127 btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
128 btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
129 btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
130 btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
131 btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
132 btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
133 btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
134 btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
135 btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
136 btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
137 btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
138 btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
139 btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
140 btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
141 btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
142 btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
143 btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
144 btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
145 btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
146 btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
147 btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
148 btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
149 btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
150 btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
151 btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
152 btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
153 btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
154 btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
155 btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
156 btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
157 btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
158 btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
159 btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
160 btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
161 btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
162 btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
163 btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
164 btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
165 btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
166 btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
167 };
168 return sUnitSpherePoints;
169}
170
@ QE_FAIL
Definition: btConvexHull.h:111
@ QF_TRIANGLES
Definition: btConvexHull.h:50
#define MAX_PREFERRED_PENETRATION_DIRECTIONS
Definition: btConvexShape.h:27
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define NUM_UNITSPHERE_POINTS
Definition: btShapeHull.cpp:22
unsigned int mVcount
Definition: btConvexHull.h:100
unsigned int mFlags
Definition: btConvexHull.h:99
const btVector3 * mVertices
Definition: btConvexHull.h:101
unsigned int mVertexStride
Definition: btConvexHull.h:102
The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull m...
Definition: btConvexHull.h:185
HullError ReleaseResult(HullResult &result)
HullError CreateConvexHull(const HullDesc &desc, HullResult &result)
btAlignedObjectArray< btVector3 > m_OutputVertices
Definition: btConvexHull.h:39
btAlignedObjectArray< unsigned int > m_Indices
Definition: btConvexHull.h:42
unsigned int mNumOutputVertices
Definition: btConvexHull.h:38
unsigned int mNumIndices
Definition: btConvexHull.h:41
int size() const
return the number of elements in the array
void resize(int newsize, const T &fillData=T())
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:32
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
virtual int getNumPreferredPenetrationDirections() const =0
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0
btShapeHull(const btConvexShape *shape)
Definition: btShapeHull.cpp:24
bool buildHull(btScalar margin)
Definition: btShapeHull.cpp:39
int numIndices() const
btAlignedObjectArray< btVector3 > m_vertices
Definition: btShapeHull.h:32
unsigned int m_numIndices
Definition: btShapeHull.h:34
btAlignedObjectArray< unsigned int > m_indices
Definition: btShapeHull.h:33
int numTriangles() const
static btVector3 * getUnitSpherePoints()
const btConvexShape * m_shape
Definition: btShapeHull.h:35
int numVertices() const
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84