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source: code/archive/tutorialFS09/src/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp

Last change on this file was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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#include "btConvexHullShape.h"
16#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
17
18#include "LinearMath/btQuaternion.h"
19
20
21
22btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
23{
24        m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
25        m_unscaledPoints.resize(numPoints);
26
27        unsigned char* pointsBaseAddress = (unsigned char*)points;
28
29        for (int i=0;i<numPoints;i++)
30        {
31                btVector3* point = (btVector3*)(pointsBaseAddress + i*stride);
32                m_unscaledPoints[i] = point[0];
33        }
34
35        recalcLocalAabb();
36
37}
38
39
40
41void btConvexHullShape::setLocalScaling(const btVector3& scaling)
42{
43        m_localScaling = scaling;
44        recalcLocalAabb();
45}
46
47void btConvexHullShape::addPoint(const btVector3& point)
48{
49        m_unscaledPoints.push_back(point);
50        recalcLocalAabb();
51
52}
53
54btVector3       btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
55{
56        btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
57        btScalar newDot,maxDot = btScalar(-1e30);
58
59        btVector3 vec = vec0;
60        btScalar lenSqr = vec.length2();
61        if (lenSqr < btScalar(0.0001))
62        {
63                vec.setValue(1,0,0);
64        } else
65        {
66                btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
67                vec *= rlen;
68        }
69
70
71        for (int i=0;i<m_unscaledPoints.size();i++)
72        {
73                btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
74
75                newDot = vec.dot(vtx);
76                if (newDot > maxDot)
77                {
78                        maxDot = newDot;
79                        supVec = vtx;
80                }
81        }
82        return supVec;
83}
84
85void    btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
86{
87        btScalar newDot;
88        //use 'w' component of supportVerticesOut?
89        {
90                for (int i=0;i<numVectors;i++)
91                {
92                        supportVerticesOut[i][3] = btScalar(-1e30);
93                }
94        }
95        for (int i=0;i<m_unscaledPoints.size();i++)
96        {
97                btVector3 vtx = getScaledPoint(i);
98
99                for (int j=0;j<numVectors;j++)
100                {
101                        const btVector3& vec = vectors[j];
102                       
103                        newDot = vec.dot(vtx);
104                        if (newDot > supportVerticesOut[j][3])
105                        {
106                                //WARNING: don't swap next lines, the w component would get overwritten!
107                                supportVerticesOut[j] = vtx;
108                                supportVerticesOut[j][3] = newDot;
109                        }
110                }
111        }
112
113
114
115}
116       
117
118
119btVector3       btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
120{
121        btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
122
123        if ( getMargin()!=btScalar(0.) )
124        {
125                btVector3 vecnorm = vec;
126                if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
127                {
128                        vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
129                } 
130                vecnorm.normalize();
131                supVertex+= getMargin() * vecnorm;
132        }
133        return supVertex;
134}
135
136
137
138
139
140
141
142
143
144//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
145//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
146int     btConvexHullShape::getNumVertices() const
147{
148        return m_unscaledPoints.size();
149}
150
151int btConvexHullShape::getNumEdges() const
152{
153        return m_unscaledPoints.size();
154}
155
156void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
157{
158
159        int index0 = i%m_unscaledPoints.size();
160        int index1 = (i+1)%m_unscaledPoints.size();
161        pa = getScaledPoint(index0);
162        pb = getScaledPoint(index1);
163}
164
165void btConvexHullShape::getVertex(int i,btVector3& vtx) const
166{
167        vtx = getScaledPoint(i);
168}
169
170int     btConvexHullShape::getNumPlanes() const
171{
172        return 0;
173}
174
175void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
176{
177
178        btAssert(0);
179}
180
181//not yet
182bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
183{
184        assert(0);
185        return false;
186}
187
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