171 lines
6.2 KiB
C++
171 lines
6.2 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//btShapeHull was implemented by John McCutchan.
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#include "btShapeHull.h"
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#include "LinearMath/btConvexHull.h"
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#define NUM_UNITSPHERE_POINTS 42
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btShapeHull::btShapeHull (const btConvexShape* shape)
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{
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m_shape = shape;
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m_vertices.clear ();
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m_indices.clear();
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m_numIndices = 0;
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}
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btShapeHull::~btShapeHull ()
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{
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m_indices.clear();
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m_vertices.clear ();
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}
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bool
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btShapeHull::buildHull (btScalar /*margin*/)
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{
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int numSampleDirections = NUM_UNITSPHERE_POINTS;
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{
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int numPDA = m_shape->getNumPreferredPenetrationDirections();
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if (numPDA)
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{
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for (int i=0;i<numPDA;i++)
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{
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btVector3 norm;
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m_shape->getPreferredPenetrationDirection(i,norm);
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getUnitSpherePoints()[numSampleDirections] = norm;
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numSampleDirections++;
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}
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}
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}
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btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
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int i;
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for (i = 0; i < numSampleDirections; i++)
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{
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supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
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}
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HullDesc hd;
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hd.mFlags = QF_TRIANGLES;
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hd.mVcount = static_cast<unsigned int>(numSampleDirections);
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#ifdef BT_USE_DOUBLE_PRECISION
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hd.mVertices = &supportPoints[0];
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hd.mVertexStride = sizeof(btVector3);
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#else
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hd.mVertices = &supportPoints[0];
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hd.mVertexStride = sizeof (btVector3);
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#endif
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HullLibrary hl;
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HullResult hr;
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if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
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{
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return false;
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}
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m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
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for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
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{
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m_vertices[i] = hr.m_OutputVertices[i];
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}
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m_numIndices = hr.mNumIndices;
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m_indices.resize(static_cast<int>(m_numIndices));
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for (i = 0; i < static_cast<int>(m_numIndices); i++)
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{
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m_indices[i] = hr.m_Indices[i];
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}
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// free temporary hull result that we just copied
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hl.ReleaseResult (hr);
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return true;
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}
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int
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btShapeHull::numTriangles () const
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{
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return static_cast<int>(m_numIndices / 3);
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}
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int
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btShapeHull::numVertices () const
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{
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return m_vertices.size ();
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}
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int
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btShapeHull::numIndices () const
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{
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return static_cast<int>(m_numIndices);
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}
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btVector3* btShapeHull::getUnitSpherePoints()
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{
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static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
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{
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btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
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btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
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btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
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btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
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btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
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btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
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btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
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btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
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btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
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btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
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btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
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btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
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btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
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btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
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btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
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btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
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btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
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btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
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btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
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btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
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btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
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btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
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btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
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btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
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btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
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btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
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btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
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};
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return sUnitSpherePoints;
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}
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