15#if defined(_WIN32) || defined(__i386__)
16#define BT_USE_SSE_IN_API
74 if (shiftVerticesByMargin)
80 for (
int p = 0; p < planeEquations.
size(); p++)
99#ifndef BT_RECONSTRUCT_FACES
103 for (
int p = 0; p < numVertices; p++)
109 for (
int j = 0; j < conv.
faces.
size(); j++)
126 edges[numEdges++] = newEdge;
154 combinedFace.
m_plane[3] = -planeEq;
163 faceNormals.
resize(numFaces);
167 tmpFaces.
resize(numFaces);
171 for (
int p = 0; p < numVertices; p++)
176 for (
int i = 0; i < numFaces; i++)
178 int face = convexUtil->
faces[i];
198 edges[numEdges++] = newEdge;
201 }
while (edge != firstEdge);
207 faceNormals[i] = edges[0].
cross(edges[1]);
208 faceNormals[i].normalize();
209 tmpFaces[i].m_plane[0] = faceNormals[i].getX();
210 tmpFaces[i].m_plane[1] = faceNormals[i].getY();
211 tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
212 tmpFaces[i].m_plane[3] = planeEq;
217 faceNormals[i].setZero();
220 for (
int v = 0; v < tmpFaces[i].m_indices.
size(); v++)
228 tmpFaces[i].m_plane[3] = -planeEq;
233 btScalar faceWeldThreshold = 0.999f;
235 for (
int i = 0; i < tmpFaces.
size(); i++)
238 while (todoFaces.
size())
241 int refFace = todoFaces[todoFaces.
size() - 1];
244 btFace& faceA = tmpFaces[refFace];
248 for (
int j = todoFaces.
size() - 1; j >= 0; j--)
250 int i = todoFaces[j];
251 btFace& faceB = tmpFaces[i];
253 if (faceNormalA.
dot(faceNormalB) > faceWeldThreshold)
260 bool did_merge =
false;
261 if (coplanarFaceGroup.
size() > 1)
268 for (
int i = 0; i < coplanarFaceGroup.
size(); i++)
272 btFace& face = tmpFaces[coplanarFaceGroup[i]];
274 averageFaceNormal += faceNormal;
282 for (
int i = 0; i < orgpoints.
size(); i++)
285 if (orgpoints[i].m_orgIndex == orgIndex)
297 for (
int i = 0; i < 4; i++)
298 combinedFace.
m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
305 for (
int i = 0; i < hull.
size(); i++)
308 for (
int k = 0; k < orgpoints.
size(); k++)
310 if (orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
312 orgpoints[k].m_orgIndex = -1;
319 bool reject_merge =
false;
321 for (
int i = 0; i < orgpoints.
size(); i++)
323 if (orgpoints[i].m_orgIndex == -1)
326 for (
int j = 0; j < tmpFaces.
size(); j++)
328 btFace& face = tmpFaces[j];
330 bool is_in_current_group =
false;
331 for (
int k = 0; k < coplanarFaceGroup.
size(); k++)
333 if (coplanarFaceGroup[k] == j)
335 is_in_current_group =
true;
339 if (is_in_current_group)
344 if (face.
m_indices[v] == orgpoints[i].m_orgIndex)
367 for (
int i = 0; i < coplanarFaceGroup.
size(); i++)
369 btFace face = tmpFaces[coplanarFaceGroup[i]];
383#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
412 for (i = 0; i < inner_count; i++)
414 i = (int)vec.
maxDot(temp, inner_count, newDot);
434 for (i = 0; i < numVectors; i++)
439 for (
int j = 0; j < numVectors; j++)
447 for (i = 0; i < inner_count; i++)
449 i = (int)vec.
maxDot(temp, inner_count, newDot);
450 if (newDot > supportVerticesOut[j][3])
452 supportVerticesOut[j] = temp[i];
453 supportVerticesOut[j][3] = newDot;
471 getAabb(ident, aabbMin, aabbMax);
482 inertia = scaledmass * (
btVector3(y2 + z2, x2 + z2, x2 + y2));
494 m_localAabbMin(1, 1, 1),
495 m_localAabbMax(-1, -1, -1),
496 m_isLocalAabbValid(false)
530 for (
int i = 0; i < 3; ++i)
538 for (
int i = 0; i < 3; i++)
#define btAlignedFree(ptr)
#define btAlignedAlloc(size, alignment)
void GrahamScanConvexHull2D(btAlignedObjectArray< GrahamVector3 > &originalPoints, btAlignedObjectArray< GrahamVector3 > &hull, const btVector3 &normalAxis)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btSqrt(btScalar y)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
int size() const
return the number of elements in the array
void resize(int newsize, const T &fillData=T())
void remove(const T &key)
T & expand(const T &fillValue=T())
void push_back(const T &_Val)
const Edge * getNextEdgeOfFace() const
int getSourceVertex() const
int getTargetVertex() const
Convex hull implementation based on Preparata and Hong See http://code.google.com/p/bullet/issues/det...
btScalar compute(const void *coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
btAlignedObjectArray< btVector3 > vertices
btAlignedObjectArray< int > faces
btAlignedObjectArray< Edge > edges
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
btScalar m_collisionMargin
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
virtual void setLocalScaling(const btVector3 &scaling)
virtual btScalar getMargin() const
btAlignedObjectArray< btVector3 > m_vertices
virtual ~btConvexPolyhedron()
btAlignedObjectArray< btFace > m_faces
static void getVerticesFromPlaneEquations(const btAlignedObjectArray< btVector3 > &planeEquations, btAlignedObjectArray< btVector3 > &verticesOut)
static void getPlaneEquationsFromVertices(btAlignedObjectArray< btVector3 > &vertices, btAlignedObjectArray< btVector3 > &planeEquationsOut)
btPolyhedralConvexAabbCachingShape()
virtual void setLocalScaling(const btVector3 &scaling)
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
btPolyhedralConvexShape()
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
virtual ~btPolyhedralConvexShape()
virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0)
optional method mainly used to generate multiple contact points by clipping polyhedral features (face...
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual void getVertex(int i, btVector3 &vtx) const =0
virtual void setPolyhedralFeatures(btConvexPolyhedron &polyhedron)
btConvexPolyhedron * m_polyhedron
virtual int getNumVertices() const =0
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
btVector3 can be used to represent 3D points and vectors.
const btScalar & getZ() const
Return the z value.
const btScalar & z() const
Return the z value.
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
btScalar dot(const btVector3 &v) const
Return the dot product.
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
long maxDot(const btVector3 *array, long array_count, btScalar &dotOut) const
returns index of maximum dot product between this and vectors in array[]
btScalar length2() const
Return the length of the vector squared.
const btScalar & getY() const
Return the y value.
const btScalar & x() const
Return the x value.
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
const btScalar & getX() const
Return the x value.
const btScalar & y() const
Return the y value.
btAlignedObjectArray< int > m_indices