2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
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8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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.
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16 #include "btConvexPointCloudShape.h"
17 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
19 #include "LinearMath/btQuaternion.h"
21 void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
23 m_localScaling = scaling;
28 btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
30 btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
31 btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
34 btScalar lenSqr = vec.length2();
35 if (lenSqr < btScalar(0.0001))
37 vec.setValue(1, 0, 0);
41 btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
47 // 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.
48 // btVector3 scaled = vec * m_localScaling;
49 int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints
50 return getScaledPoint(index);
56 void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
58 for (int j = 0; j < numVectors; j++)
60 const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c)
62 int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);
63 supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
66 //WARNING: don't swap next lines, the w component would get overwritten!
67 supportVerticesOut[j] = getScaledPoint(index);
68 supportVerticesOut[j][3] = maxDot;
73 btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec) const
75 btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
77 if (getMargin() != btScalar(0.))
79 btVector3 vecnorm = vec;
80 if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
82 vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
85 supVertex += getMargin() * vecnorm;
92 //currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
93 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
94 int btConvexPointCloudShape::getNumVertices() const
99 int btConvexPointCloudShape::getNumEdges() const
104 void btConvexPointCloudShape::getEdge(int i, btVector3& pa, btVector3& pb) const
109 void btConvexPointCloudShape::getVertex(int i, btVector3& vtx) const
111 vtx = m_unscaledPoints[i] * m_localScaling;
114 int btConvexPointCloudShape::getNumPlanes() const
119 void btConvexPointCloudShape::getPlane(btVector3&, btVector3&, int) const
125 bool btConvexPointCloudShape::isInside(const btVector3&, btScalar) const