dali-physics/third-party/bullet3/src/BulletCollision/CollisionShapes/btShapeHull.cpp

   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 //btShapeHull was implemented by John McCutchan.
  17
  18 #include "btShapeHull.h"
  19 #include "LinearMath/btConvexHull.h"
  20
  21 #define NUM_UNITSPHERE_POINTS 42
  22 #define NUM_UNITSPHERE_POINTS_HIGHRES 256
  23
  24 btShapeHull::btShapeHull(const btConvexShape* shape)
  25 {
  26         m_shape = shape;
  27         m_vertices.clear();
  28         m_indices.clear();
  29         m_numIndices = 0;
  30 }
  31
  32 btShapeHull::~btShapeHull()
  33 {
  34         m_indices.clear();
  35         m_vertices.clear();
  36 }
  37
  38 bool btShapeHull::buildHull(btScalar /*margin*/, int highres)
  39 {
  40
  41         int numSampleDirections = highres ? NUM_UNITSPHERE_POINTS_HIGHRES : NUM_UNITSPHERE_POINTS;
  42         btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
  43         int i;
  44         for (i = 0; i < numSampleDirections; i++)
  45         {
  46                 supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
  47         }
  48
  49         int numPDA = m_shape->getNumPreferredPenetrationDirections();
  50         if (numPDA)
  51         {
  52                 for (int s = 0; s < numPDA; s++)
  53                 {
  54                         btVector3 norm;
  55                         m_shape->getPreferredPenetrationDirection(s, norm);
  56                         supportPoints[i++] = m_shape->localGetSupportingVertex(norm);
  57                         numSampleDirections++;
  58                 }
  59         }
  60         HullDesc hd;
  61         hd.mFlags = QF_TRIANGLES;
  62         hd.mVcount = static_cast<unsigned int>(numSampleDirections);
  63
  64 #ifdef BT_USE_DOUBLE_PRECISION
  65         hd.mVertices = &supportPoints[0];
  66         hd.mVertexStride = sizeof(btVector3);
  67 #else
  68         hd.mVertices = &supportPoints[0];
  69         hd.mVertexStride = sizeof(btVector3);
  70 #endif
  71
  72         HullLibrary hl;
  73         HullResult hr;
  74         if (hl.CreateConvexHull(hd, hr) == QE_FAIL)
  75         {
  76                 return false;
  77         }
  78
  79         m_vertices.resize(static_cast<int>(hr.mNumOutputVertices));
  80
  81         for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
  82         {
  83                 m_vertices[i] = hr.m_OutputVertices[i];
  84         }
  85         m_numIndices = hr.mNumIndices;
  86         m_indices.resize(static_cast<int>(m_numIndices));
  87         for (i = 0; i < static_cast<int>(m_numIndices); i++)
  88         {
  89                 m_indices[i] = hr.m_Indices[i];
  90         }
  91
  92         // free temporary hull result that we just copied
  93         hl.ReleaseResult(hr);
  94
  95         return true;
  96 }
  97
  98 int btShapeHull::numTriangles() const
  99 {
 100         return static_cast<int>(m_numIndices / 3);
 101 }
 102
 103 int btShapeHull::numVertices() const
 104 {
 105         return m_vertices.size();
 106 }
 107
 108 int btShapeHull::numIndices() const
 109 {
 110         return static_cast<int>(m_numIndices);
 111 }
 112
 113 btVector3* btShapeHull::getUnitSpherePoints(int highres)
 114 {
 115         static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
 116                 {
 117                         btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),
 118                         btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),
 119                         btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),
 120                         btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),
 121                         btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),
 122                         btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),
 123                         btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),
 124                         btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),
 125                         btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),
 126                         btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),
 127                         btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),
 128                         btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),
 129                         btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),
 130                         btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),
 131                         btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),
 132                         btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),
 133                         btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),
 134                         btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),
 135                         btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),
 136                         btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),
 137                         btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),
 138                         btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),
 139                         btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),
 140                         btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),
 141                         btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),
 142                         btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),
 143                         btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),
 144                         btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),
 145                         btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),
 146                         btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),
 147                         btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),
 148                         btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),
 149                         btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),
 150                         btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),
 151                         btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),
 152                         btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),
 153                         btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),
 154                         btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),
 155                         btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),
 156                         btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),
 157                         btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),
 158                         btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),
 159                         btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),
 160                         btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),
 161                         btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),
 162                         btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),
 163                         btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),
 164                         btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),
 165                         btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),
 166                         btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),
 167                         btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),
 168                         btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),
 169                         btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),
 170                         btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),
 171                         btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),
 172                         btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),
 173                         btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),
 174                         btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),
 175                         btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),
 176                         btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),
 177                         btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),
 178                         btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),
 179                         btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),
 180                         btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),
 181                         btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),
 182                         btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),
 183                         btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),
 184                         btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),
 185                         btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),
 186                         btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),
 187                         btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),
 188                         btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),
 189                         btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),
 190                         btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),
 191                         btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),
 192                         btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),
 193                         btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),
 194                         btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),
 195                         btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),
 196                         btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),
 197                         btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),
 198                         btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),
 199                         btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),
 200                         btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),
 201                         btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),
 202                         btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),
 203                         btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),
 204                         btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),
 205                         btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),
 206                         btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),
 207                         btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),
 208                         btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),
 209                         btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),
 210                         btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),
 211                         btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),
 212                         btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),
 213                         btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),
 214                         btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),
 215                         btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),
 216                         btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),
 217                         btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),
 218                         btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),
 219                         btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),
 220                         btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),
 221                         btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),
 222                         btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),
 223                         btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),
 224                         btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),
 225                         btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),
 226                         btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),
 227                         btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),
 228                         btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),
 229                         btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),
 230                         btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),
 231                         btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),
 232                         btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),
 233                         btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),
 234                         btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),
 235                         btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),
 236                         btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),
 237                         btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),
 238                         btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),
 239                         btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),
 240                         btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),
 241                         btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),
 242                         btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),
 243                         btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),
 244                         btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),
 245                         btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),
 246                         btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),
 247                         btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),
 248                         btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),
 249                         btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),
 250                         btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),
 251                         btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),
 252                         btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),
 253                         btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),
 254                         btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),
 255                         btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),
 256                         btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),
 257                         btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),
 258                         btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),
 259                         btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),
 260                         btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),
 261                         btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),
 262                         btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),
 263                         btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),
 264                         btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),
 265                         btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),
 266                         btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),
 267                         btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),
 268                         btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),
 269                         btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),
 270                         btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),
 271                         btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),
 272                         btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),
 273                         btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),
 274                         btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),
 275                         btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),
 276                         btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),
 277                         btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),
 278                         btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),
 279                         btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),
 280                         btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),
 281                         btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),
 282                         btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),
 283                         btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),
 284                         btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),
 285                         btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),
 286                         btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),
 287                         btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),
 288                         btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),
 289                         btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),
 290                         btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),
 291                         btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),
 292                         btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),
 293                         btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),
 294                         btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),
 295                         btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),
 296                         btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),
 297                         btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),
 298                         btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),
 299                         btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),
 300                         btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),
 301                         btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),
 302                         btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),
 303                         btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),
 304                         btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),
 305                         btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),
 306                         btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),
 307                         btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),
 308                         btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),
 309                         btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),
 310                         btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),
 311                         btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),
 312                         btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),
 313                         btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),
 314                         btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),
 315                         btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),
 316                         btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),
 317                         btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),
 318                         btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),
 319                         btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),
 320                         btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),
 321                         btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),
 322                         btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),
 323                         btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),
 324                         btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),
 325                         btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),
 326                         btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),
 327                         btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),
 328                         btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),
 329                         btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),
 330                         btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),
 331                         btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),
 332                         btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),
 333                         btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),
 334                         btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),
 335                         btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),
 336                         btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),
 337                         btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),
 338                         btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),
 339                         btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),
 340                         btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),
 341                         btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),
 342                         btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),
 343                         btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),
 344                         btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),
 345                         btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),
 346                         btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),
 347                         btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),
 348                         btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),
 349                         btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),
 350                         btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),
 351                         btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),
 352                         btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),
 353                         btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),
 354                         btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),
 355                         btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),
 356                         btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),
 357                         btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),
 358                         btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),
 359                         btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),
 360                         btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),
 361                         btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),
 362                         btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),
 363                         btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),
 364                         btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),
 365                         btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),
 366                         btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),
 367                         btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),
 368                         btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),
 369                         btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),
 370                         btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),
 371                         btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),
 372                         btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),
 373                 };
 374         static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
 375                 {
 376                         btVector3(btScalar(0.000000), btScalar(-0.000000), btScalar(-1.000000)),
 377                         btVector3(btScalar(0.723608), btScalar(-0.525725), btScalar(-0.447219)),
 378                         btVector3(btScalar(-0.276388), btScalar(-0.850649), btScalar(-0.447219)),
 379                         btVector3(btScalar(-0.894426), btScalar(-0.000000), btScalar(-0.447216)),
 380                         btVector3(btScalar(-0.276388), btScalar(0.850649), btScalar(-0.447220)),
 381                         btVector3(btScalar(0.723608), btScalar(0.525725), btScalar(-0.447219)),
 382                         btVector3(btScalar(0.276388), btScalar(-0.850649), btScalar(0.447220)),
 383                         btVector3(btScalar(-0.723608), btScalar(-0.525725), btScalar(0.447219)),
 384                         btVector3(btScalar(-0.723608), btScalar(0.525725), btScalar(0.447219)),
 385                         btVector3(btScalar(0.276388), btScalar(0.850649), btScalar(0.447219)),
 386                         btVector3(btScalar(0.894426), btScalar(0.000000), btScalar(0.447216)),
 387                         btVector3(btScalar(-0.000000), btScalar(0.000000), btScalar(1.000000)),
 388                         btVector3(btScalar(0.425323), btScalar(-0.309011), btScalar(-0.850654)),
 389                         btVector3(btScalar(-0.162456), btScalar(-0.499995), btScalar(-0.850654)),
 390                         btVector3(btScalar(0.262869), btScalar(-0.809012), btScalar(-0.525738)),
 391                         btVector3(btScalar(0.425323), btScalar(0.309011), btScalar(-0.850654)),
 392                         btVector3(btScalar(0.850648), btScalar(-0.000000), btScalar(-0.525736)),
 393                         btVector3(btScalar(-0.525730), btScalar(-0.000000), btScalar(-0.850652)),
 394                         btVector3(btScalar(-0.688190), btScalar(-0.499997), btScalar(-0.525736)),
 395                         btVector3(btScalar(-0.162456), btScalar(0.499995), btScalar(-0.850654)),
 396                         btVector3(btScalar(-0.688190), btScalar(0.499997), btScalar(-0.525736)),
 397                         btVector3(btScalar(0.262869), btScalar(0.809012), btScalar(-0.525738)),
 398                         btVector3(btScalar(0.951058), btScalar(0.309013), btScalar(0.000000)),
 399                         btVector3(btScalar(0.951058), btScalar(-0.309013), btScalar(0.000000)),
 400                         btVector3(btScalar(0.587786), btScalar(-0.809017), btScalar(0.000000)),
 401                         btVector3(btScalar(0.000000), btScalar(-1.000000), btScalar(0.000000)),
 402                         btVector3(btScalar(-0.587786), btScalar(-0.809017), btScalar(0.000000)),
 403                         btVector3(btScalar(-0.951058), btScalar(-0.309013), btScalar(-0.000000)),
 404                         btVector3(btScalar(-0.951058), btScalar(0.309013), btScalar(-0.000000)),
 405                         btVector3(btScalar(-0.587786), btScalar(0.809017), btScalar(-0.000000)),
 406                         btVector3(btScalar(-0.000000), btScalar(1.000000), btScalar(-0.000000)),
 407                         btVector3(btScalar(0.587786), btScalar(0.809017), btScalar(-0.000000)),
 408                         btVector3(btScalar(0.688190), btScalar(-0.499997), btScalar(0.525736)),
 409                         btVector3(btScalar(-0.262869), btScalar(-0.809012), btScalar(0.525738)),
 410                         btVector3(btScalar(-0.850648), btScalar(0.000000), btScalar(0.525736)),
 411                         btVector3(btScalar(-0.262869), btScalar(0.809012), btScalar(0.525738)),
 412                         btVector3(btScalar(0.688190), btScalar(0.499997), btScalar(0.525736)),
 413                         btVector3(btScalar(0.525730), btScalar(0.000000), btScalar(0.850652)),
 414                         btVector3(btScalar(0.162456), btScalar(-0.499995), btScalar(0.850654)),
 415                         btVector3(btScalar(-0.425323), btScalar(-0.309011), btScalar(0.850654)),
 416                         btVector3(btScalar(-0.425323), btScalar(0.309011), btScalar(0.850654)),
 417                         btVector3(btScalar(0.162456), btScalar(0.499995), btScalar(0.850654))};
 418         if (highres)
 419                 return sUnitSpherePointsHighres;
 420         return sUnitSpherePoints;
 421 }