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source: code/branches/hudHS14/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp @ 10222

Last change on this file since 10222 was 8351, checked in by rgrieder, 14 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
  • Property svn:eol-style set to native
File size: 5.5 KB
Line 
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#include "btConvexHullShape.h"
17#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
18
19#include "LinearMath/btQuaternion.h"
20#include "LinearMath/btSerializer.h"
21
22btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
23{
24        m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
25        m_unscaledPoints.resize(numPoints);
26
27        unsigned char* pointsAddress = (unsigned char*)points;
28
29        for (int i=0;i<numPoints;i++)
30        {
31                btScalar* point = (btScalar*)pointsAddress;
32                m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]);
33                pointsAddress += stride;
34        }
35
36        recalcLocalAabb();
37
38}
39
40
41
42void btConvexHullShape::setLocalScaling(const btVector3& scaling)
43{
44        m_localScaling = scaling;
45        recalcLocalAabb();
46}
47
48void btConvexHullShape::addPoint(const btVector3& point)
49{
50        m_unscaledPoints.push_back(point);
51        recalcLocalAabb();
52
53}
54
55btVector3       btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
56{
57        btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
58        btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
59
60        for (int i=0;i<m_unscaledPoints.size();i++)
61        {
62                btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
63
64                newDot = vec.dot(vtx);
65                if (newDot > maxDot)
66                {
67                        maxDot = newDot;
68                        supVec = vtx;
69                }
70        }
71        return supVec;
72}
73
74void    btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
75{
76        btScalar newDot;
77        //use 'w' component of supportVerticesOut?
78        {
79                for (int i=0;i<numVectors;i++)
80                {
81                        supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
82                }
83        }
84        for (int i=0;i<m_unscaledPoints.size();i++)
85        {
86                btVector3 vtx = getScaledPoint(i);
87
88                for (int j=0;j<numVectors;j++)
89                {
90                        const btVector3& vec = vectors[j];
91                       
92                        newDot = vec.dot(vtx);
93                        if (newDot > supportVerticesOut[j][3])
94                        {
95                                //WARNING: don't swap next lines, the w component would get overwritten!
96                                supportVerticesOut[j] = vtx;
97                                supportVerticesOut[j][3] = newDot;
98                        }
99                }
100        }
101
102
103
104}
105       
106
107
108btVector3       btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
109{
110        btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
111
112        if ( getMargin()!=btScalar(0.) )
113        {
114                btVector3 vecnorm = vec;
115                if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
116                {
117                        vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
118                } 
119                vecnorm.normalize();
120                supVertex+= getMargin() * vecnorm;
121        }
122        return supVertex;
123}
124
125
126
127
128
129
130
131
132
133//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
134//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
135int     btConvexHullShape::getNumVertices() const
136{
137        return m_unscaledPoints.size();
138}
139
140int btConvexHullShape::getNumEdges() const
141{
142        return m_unscaledPoints.size();
143}
144
145void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
146{
147
148        int index0 = i%m_unscaledPoints.size();
149        int index1 = (i+1)%m_unscaledPoints.size();
150        pa = getScaledPoint(index0);
151        pb = getScaledPoint(index1);
152}
153
154void btConvexHullShape::getVertex(int i,btVector3& vtx) const
155{
156        vtx = getScaledPoint(i);
157}
158
159int     btConvexHullShape::getNumPlanes() const
160{
161        return 0;
162}
163
164void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
165{
166
167        btAssert(0);
168}
169
170//not yet
171bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
172{
173        btAssert(0);
174        return false;
175}
176
177///fills the dataBuffer and returns the struct name (and 0 on failure)
178const char*     btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
179{
180        //int szc = sizeof(btConvexHullShapeData);
181        btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer;
182        btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
183
184        int numElem = m_unscaledPoints.size();
185        shapeData->m_numUnscaledPoints = numElem;
186#ifdef BT_USE_DOUBLE_PRECISION
187        shapeData->m_unscaledPointsFloatPtr = 0;
188        shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]):  0;
189#else
190        shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]):  0;
191        shapeData->m_unscaledPointsDoublePtr = 0;
192#endif
193       
194        if (numElem)
195        {
196                int sz = sizeof(btVector3Data);
197        //      int sz2 = sizeof(btVector3DoubleData);
198        //      int sz3 = sizeof(btVector3FloatData);
199                btChunk* chunk = serializer->allocate(sz,numElem);
200                btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
201                for (int i=0;i<numElem;i++,memPtr++)
202                {
203                        m_unscaledPoints[i].serialize(*memPtr);
204                }
205                serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
206        }
207       
208        return "btConvexHullShapeData";
209}
210
211
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