| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| //btShapeHull was implemented by John McCutchan. |
| |
| |
| #include "BulletCollision/CollisionShapes/btShapeHull.h" |
| #include "LinearMath/btConvexHull.h" |
| |
| #define NUM_UNITSPHERE_POINTS 42 |
| |
| static btVector3 btUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = |
| { |
| btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)), |
| btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)), |
| btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)), |
| btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)), |
| btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)), |
| btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)), |
| btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)), |
| btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)), |
| btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)), |
| btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)), |
| btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)), |
| btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)), |
| btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)), |
| btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)), |
| btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)), |
| btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)), |
| btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)), |
| btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)), |
| btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)), |
| btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)), |
| btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)), |
| btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)), |
| btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)), |
| btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)), |
| btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)), |
| btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)), |
| btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)), |
| btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)), |
| btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)), |
| btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)), |
| btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)), |
| btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)), |
| btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)), |
| btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)), |
| btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)), |
| btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)), |
| btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)), |
| btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)), |
| btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)), |
| btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)), |
| btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)), |
| btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) |
| }; |
| |
| btShapeHull::btShapeHull (const btConvexShape* shape) |
| { |
| m_shape = shape; |
| m_vertices.clear (); |
| m_indices.clear(); |
| m_numIndices = 0; |
| } |
| |
| btShapeHull::~btShapeHull () |
| { |
| m_indices.clear(); |
| m_vertices.clear (); |
| } |
| |
| bool |
| btShapeHull::buildHull (btScalar /*margin*/) |
| { |
| int numSampleDirections = NUM_UNITSPHERE_POINTS; |
| { |
| int numPDA = m_shape->getNumPreferredPenetrationDirections(); |
| if (numPDA) |
| { |
| for (int i=0;i<numPDA;i++) |
| { |
| btVector3 norm; |
| m_shape->getPreferredPenetrationDirection(i,norm); |
| btUnitSpherePoints[numSampleDirections] = norm; |
| numSampleDirections++; |
| } |
| } |
| } |
| |
| btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; |
| int i; |
| for (i = 0; i < numSampleDirections; i++) |
| { |
| supportPoints[i] = m_shape->localGetSupportingVertex(btUnitSpherePoints[i]); |
| } |
| |
| HullDesc hd; |
| hd.mFlags = QF_TRIANGLES; |
| hd.mVcount = static_cast<unsigned int>(numSampleDirections); |
| |
| #ifdef BT_USE_DOUBLE_PRECISION |
| hd.mVertices = &supportPoints[0]; |
| hd.mVertexStride = sizeof(btVector3); |
| #else |
| hd.mVertices = &supportPoints[0]; |
| hd.mVertexStride = sizeof (btVector3); |
| #endif |
| |
| HullLibrary hl; |
| HullResult hr; |
| if (hl.CreateConvexHull (hd, hr) == QE_FAIL) |
| { |
| return false; |
| } |
| |
| m_vertices.resize (static_cast<int>(hr.mNumOutputVertices)); |
| |
| |
| for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++) |
| { |
| m_vertices[i] = hr.m_OutputVertices[i]; |
| } |
| m_numIndices = hr.mNumIndices; |
| m_indices.resize(static_cast<int>(m_numIndices)); |
| for (i = 0; i < static_cast<int>(m_numIndices); i++) |
| { |
| m_indices[i] = hr.m_Indices[i]; |
| } |
| |
| // free temporary hull result that we just copied |
| hl.ReleaseResult (hr); |
| |
| return true; |
| } |
| |
| int |
| btShapeHull::numTriangles () const |
| { |
| return static_cast<int>(m_numIndices / 3); |
| } |
| |
| int |
| btShapeHull::numVertices () const |
| { |
| return m_vertices.size (); |
| } |
| |
| int |
| btShapeHull::numIndices () const |
| { |
| return static_cast<int>(m_numIndices); |
| } |
| |