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source: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp @ 8422

Last change on this file since 8422 was 8284, checked in by rgrieder, 14 years ago

Merged revisions 7978 - 8096 from kicklib to kicklib2.
  • Property svn:eol-style set to native
File size: 6.2 KB
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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//btShapeHull was implemented by John McCutchan.
17
18
19#include "btShapeHull.h"
20#include "LinearMath/btConvexHull.h"
21
22#define NUM_UNITSPHERE_POINTS 42
23
24btShapeHull::btShapeHull (const btConvexShape* shape)
25{
26        m_shape = shape;
27        m_vertices.clear ();
28        m_indices.clear();
29        m_numIndices = 0;
30}
31
32btShapeHull::~btShapeHull ()
33{
34        m_indices.clear();     
35        m_vertices.clear ();
36}
37
38bool
39btShapeHull::buildHull (btScalar /*margin*/)
40{
41        int numSampleDirections = NUM_UNITSPHERE_POINTS;
42        {
43                int numPDA = m_shape->getNumPreferredPenetrationDirections();
44                if (numPDA)
45                {
46                        for (int i=0;i<numPDA;i++)
47                        {
48                                btVector3 norm;
49                                m_shape->getPreferredPenetrationDirection(i,norm);
50                                getUnitSpherePoints()[numSampleDirections] = norm;
51                                numSampleDirections++;
52                        }
53                }
54        }
55
56        btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
57        int i;
58        for (i = 0; i < numSampleDirections; i++)
59        {
60                supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
61        }
62
63        HullDesc hd;
64        hd.mFlags = QF_TRIANGLES;
65        hd.mVcount = static_cast<unsigned int>(numSampleDirections);
66
67#ifdef BT_USE_DOUBLE_PRECISION
68        hd.mVertices = &supportPoints[0];
69        hd.mVertexStride = sizeof(btVector3);
70#else
71        hd.mVertices = &supportPoints[0];
72        hd.mVertexStride = sizeof (btVector3);
73#endif
74
75        HullLibrary hl;
76        HullResult hr;
77        if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
78        {
79                return false;
80        }
81
82        m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
83
84
85        for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
86        {
87                m_vertices[i] = hr.m_OutputVertices[i];
88        }
89        m_numIndices = hr.mNumIndices;
90        m_indices.resize(static_cast<int>(m_numIndices));
91        for (i = 0; i < static_cast<int>(m_numIndices); i++)
92        {
93                m_indices[i] = hr.m_Indices[i];
94        }
95
96        // free temporary hull result that we just copied
97        hl.ReleaseResult (hr);
98
99        return true;
100}
101
102int
103btShapeHull::numTriangles () const
104{
105        return static_cast<int>(m_numIndices / 3);
106}
107
108int
109btShapeHull::numVertices () const
110{
111        return m_vertices.size ();
112}
113
114int
115btShapeHull::numIndices () const
116{
117        return static_cast<int>(m_numIndices);
118}
119
120
121btVector3* btShapeHull::getUnitSpherePoints()
122{
123        static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
124        {
125                btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
126                btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
127                btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
128                btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
129                btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
130                btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
131                btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
132                btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
133                btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
134                btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
135                btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
136                btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
137                btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
138                btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
139                btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
140                btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
141                btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
142                btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
143                btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
144                btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
145                btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
146                btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
147                btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
148                btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
149                btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
150                btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
151                btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
152                btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
153                btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
154                btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
155                btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
156                btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
157                btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
158                btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
159                btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
160                btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
161                btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
162                btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
163                btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
164                btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
165                btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
166                btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
167        };
168        return sUnitSpherePoints;
169}
170
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