dali-physics/third-party/bullet3/src/Bullet3OpenCL/NarrowphaseCollision/b3SupportMappings.h

   1
   2 #ifndef B3_SUPPORT_MAPPINGS_H
   3 #define B3_SUPPORT_MAPPINGS_H
   4
   5 #include "Bullet3Common/b3Transform.h"
   6 #include "Bullet3Common/b3AlignedObjectArray.h"
   7 #include "b3VectorFloat4.h"
   8
   9 struct b3GjkPairDetector;
  10
  11 inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec, const struct b3ConvexPolyhedronData* hull,
  12                                                                                                  const b3AlignedObjectArray<b3Vector3>& verticesA, b3Scalar margin)
  13 {
  14         b3Vector3 supVec = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
  15         b3Scalar maxDot = b3Scalar(-B3_LARGE_FLOAT);
  16
  17         // Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically.
  18         if (0 < hull->m_numVertices)
  19         {
  20                 const b3Vector3 scaled = supportVec;
  21                 int index = (int)scaled.maxDot(&verticesA[hull->m_vertexOffset], hull->m_numVertices, maxDot);
  22                 return verticesA[hull->m_vertexOffset + index];
  23         }
  24
  25         return supVec;
  26 }
  27
  28 inline b3Vector3 localGetSupportVertexWithoutMargin(const float4& supportVec, const struct b3ConvexPolyhedronData* hull,
  29                                                                                                         const b3AlignedObjectArray<b3Vector3>& verticesA)
  30 {
  31         return localGetSupportVertexWithMargin(supportVec, hull, verticesA, 0.f);
  32 }
  33
  34 #endif  //B3_SUPPORT_MAPPINGS_H