Bullet Collision Detection & Physics Library: btConvexPointCloudShape.cpp Source File

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btConvexPointCloudShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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 }
39 else
40 {
41 btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
42 vec *= rlen;
43 }
44
45 if (m_numPoints > 0)
46 {
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);
51 }
52
53 return supVec;
54}
55
56 void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
57{
58 for (int j = 0; j < numVectors; j++)
59 {
60 const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c)
61 btScalar maxDot;
62 int index = (int)vec.maxDot(&m_unscaledPoints[0], m_numPoints, maxDot);
63 supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
64 if (0 <= index)
65 {
66 //WARNING: don't swap next lines, the w component would get overwritten!
67 supportVerticesOut[j] = getScaledPoint(index);
68 supportVerticesOut[j][3] = maxDot;
69 }
70 }
71}
72
73 btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec) const
74{
75 btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
76
77 if (getMargin() != btScalar(0.))
78 {
79 btVector3 vecnorm = vec;
80 if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
81 {
82 vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
83 }
84 vecnorm.normalize();
85 supVertex += getMargin() * vecnorm;
86 }
87 return supVertex;
88}
89
90#endif
91
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
95{
96 return m_numPoints;
97}
98
99 int btConvexPointCloudShape::getNumEdges() const
100{
101 return 0;
102}
103
104 void btConvexPointCloudShape::getEdge(int i, btVector3& pa, btVector3& pb) const
105{
106 btAssert(0);
107}
108
109 void btConvexPointCloudShape::getVertex(int i, btVector3& vtx) const
110{
111 vtx = m_unscaledPoints[i] * m_localScaling;
112}
113
114 int btConvexPointCloudShape::getNumPlanes() const
115{
116 return 0;
117}
118
119 void btConvexPointCloudShape::getPlane(btVector3&, btVector3&, int) const
120{
121 btAssert(0);
122}
123
124//not yet
125 bool btConvexPointCloudShape::isInside(const btVector3&, btScalar) const
126{
127 btAssert(0);
128 return false;
129}
btCollisionMargin.h
btConvexPointCloudShape.h
btQuaternion.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition btScalar.h:316
btSqrt
btScalar btSqrt(btScalar y)
Definition btScalar.h:466
SIMD_EPSILON
#define SIMD_EPSILON
Definition btScalar.h:543
btAssert
#define btAssert(x)
Definition btScalar.h:153
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition btConvexInternalShape.h:33
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition btConvexInternalShape.h:106
btConvexPointCloudShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition btConvexPointCloudShape.cpp:73
btConvexPointCloudShape::getScaledPoint
btVector3 getScaledPoint(int index) const
Definition btConvexPointCloudShape.h:77
btConvexPointCloudShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
in case we receive negative scaling
Definition btConvexPointCloudShape.cpp:21
btConvexPointCloudShape::getNumPlanes
virtual int getNumPlanes() const
Definition btConvexPointCloudShape.cpp:114
btConvexPointCloudShape::getEdge
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
Definition btConvexPointCloudShape.cpp:104
btConvexPointCloudShape::getNumEdges
virtual int getNumEdges() const
Definition btConvexPointCloudShape.cpp:99
btConvexPointCloudShape::getNumVertices
virtual int getNumVertices() const
Definition btConvexPointCloudShape.cpp:94
btConvexPointCloudShape::m_unscaledPoints
btVector3 * m_unscaledPoints
Definition btConvexPointCloudShape.h:27
btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition btConvexPointCloudShape.cpp:56
btConvexPointCloudShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition btConvexPointCloudShape.cpp:28
btConvexPointCloudShape::getVertex
virtual void getVertex(int i, btVector3 &vtx) const
Definition btConvexPointCloudShape.cpp:109
btConvexPointCloudShape::isInside
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
Definition btConvexPointCloudShape.cpp:125
btConvexPointCloudShape::m_numPoints
int m_numPoints
Definition btConvexPointCloudShape.h:28
btConvexPointCloudShape::getPlane
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
Definition btConvexPointCloudShape.cpp:119
btPolyhedralConvexAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition btPolyhedralConvexShape.cpp:505
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition btVector3.h:640
btVector3::maxDot
long maxDot(const btVector3 *array, long array_count, btScalar &dotOut) const
returns index of maximum dot product between this and vectors in array[]
Definition btVector3.h:998
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition btVector3.h:251
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition btVector3.h:303