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.
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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))
40 btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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);
55 void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
57 for( int j = 0; j < numVectors; j++ )
59 const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c)
61 int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);
62 supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
65 //WARNING: don't swap next lines, the w component would get overwritten!
66 supportVerticesOut[j] = getScaledPoint(index);
67 supportVerticesOut[j][3] = maxDot;
75 btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
77 btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
79 if ( getMargin()!=btScalar(0.) )
81 btVector3 vecnorm = vec;
82 if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
84 vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
87 supVertex+= getMargin() * vecnorm;
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
107 int btConvexPointCloudShape::getNumEdges() const
112 void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
117 void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
119 vtx = m_unscaledPoints[i]*m_localScaling;
122 int btConvexPointCloudShape::getNumPlanes() const
127 void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
134 bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const