1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #include "btConvexPointCloudShape.h"
17 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
18
19 #include "LinearMath/btQuaternion.h"
20
setLocalScaling(const btVector3 & scaling)21 void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
22 {
23 m_localScaling = scaling;
24 recalcLocalAabb();
25 }
26
27 #ifndef __SPU__
localGetSupportingVertexWithoutMargin(const btVector3 & vec0) const28 btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
29 {
30 btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
31 btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
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
batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 * vectors,btVector3 * supportVerticesOut,int numVectors) const55 void 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
localGetSupportingVertex(const btVector3 & vec) const75 btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
76 {
77 btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
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
getNumVertices() const102 int btConvexPointCloudShape::getNumVertices() const
103 {
104 return m_numPoints;
105 }
106
getNumEdges() const107 int btConvexPointCloudShape::getNumEdges() const
108 {
109 return 0;
110 }
111
getEdge(int i,btVector3 & pa,btVector3 & pb) const112 void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
113 {
114 btAssert (0);
115 }
116
getVertex(int i,btVector3 & vtx) const117 void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
118 {
119 vtx = m_unscaledPoints[i]*m_localScaling;
120 }
121
getNumPlanes() const122 int btConvexPointCloudShape::getNumPlanes() const
123 {
124 return 0;
125 }
126
getPlane(btVector3 &,btVector3 &,int) const127 void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
128 {
129
130 btAssert(0);
131 }
132
133 //not yet
isInside(const btVector3 &,btScalar) const134 bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
135 {
136 btAssert(0);
137 return false;
138 }
139
140