1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 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. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 16 #include "btConvexPointCloudShape.h" 17 #include "BulletCollision/CollisionShapes/btCollisionMargin.h" 18 19 #include "LinearMath/btQuaternion.h" 20 21 void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling) 22 { 23 m_localScaling = scaling; 24 recalcLocalAabb(); 25 } 26 27 #ifndef __SPU__ 28 btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const 29 { 30 btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); 31 btScalar maxDot = btScalar(-BT_LARGE_FLOAT); 32 33 btVector3 vec = vec0; 34 btScalar lenSqr = vec.length2(); 35 if (lenSqr < btScalar(0.0001)) 36 { 37 vec.setValue(1,0,0); 38 } else 39 { 40 btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); 41 vec *= rlen; 42 } 43 44 if( m_numPoints > 0 ) 45 { 46 // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically. 47 // btVector3 scaled = vec * m_localScaling; 48 int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints 49 return getScaledPoint(index); 50 } 51 52 return supVec; 53 } 54 55 void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const 56 { 57 for( int j = 0; j < numVectors; j++ ) 58 { 59 const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c) 60 btScalar maxDot; 61 int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); 62 supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT); 63 if( 0 <= index ) 64 { 65 //WARNING: don't swap next lines, the w component would get overwritten! 66 supportVerticesOut[j] = getScaledPoint(index); 67 supportVerticesOut[j][3] = maxDot; 68 } 69 } 70 71 } 72 73 74 75 btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const 76 { 77 btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); 78 79 if ( getMargin()!=btScalar(0.) ) 80 { 81 btVector3 vecnorm = vec; 82 if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) 83 { 84 vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); 85 } 86 vecnorm.normalize(); 87 supVertex+= getMargin() * vecnorm; 88 } 89 return supVertex; 90 } 91 92 93 #endif 94 95 96 97 98 99 100 //currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection 101 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo 102 int btConvexPointCloudShape::getNumVertices() const 103 { 104 return m_numPoints; 105 } 106 107 int btConvexPointCloudShape::getNumEdges() const 108 { 109 return 0; 110 } 111 112 void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const 113 { 114 btAssert (0); 115 } 116 117 void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const 118 { 119 vtx = m_unscaledPoints[i]*m_localScaling; 120 } 121 122 int btConvexPointCloudShape::getNumPlanes() const 123 { 124 return 0; 125 } 126 127 void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const 128 { 129 130 btAssert(0); 131 } 132 133 //not yet 134 bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const 135 { 136 btAssert(0); 137 return false; 138 } 139 140
