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Viewing changes to tests/bullet/src/BulletCollision/CollisionShapes/btShapeHull.cpp

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletCollision/CollisionShapes/btShapeHull.cpp
 
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/*
 
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Bullet Continuous Collision Detection and Physics Library
 
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Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
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This software is provided 'as-is', without any express or implied warranty.
 
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In no event will the authors be held liable for any damages arising from the use of this software.
 
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Permission is granted to anyone to use this software for any purpose, 
 
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including commercial applications, and to alter it and redistribute it freely, 
 
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subject to the following restrictions:
 
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 
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3. This notice may not be removed or altered from any source distribution.
 
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*/
 
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//btShapeHull was implemented by John McCutchan.
 
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#include "btShapeHull.h"
 
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#include "LinearMath/btConvexHull.h"
 
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#define NUM_UNITSPHERE_POINTS 42
 
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btShapeHull::btShapeHull (const btConvexShape* shape)
 
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{
 
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        m_shape = shape;
 
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        m_vertices.clear ();
 
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        m_indices.clear();
 
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        m_numIndices = 0;
 
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}
 
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btShapeHull::~btShapeHull ()
 
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{
 
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        m_indices.clear();      
 
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        m_vertices.clear ();
 
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}
 
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bool
 
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btShapeHull::buildHull (btScalar /*margin*/)
 
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{
 
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        int numSampleDirections = NUM_UNITSPHERE_POINTS;
 
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        {
 
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                int numPDA = m_shape->getNumPreferredPenetrationDirections();
 
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                if (numPDA)
 
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                {
 
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                        for (int i=0;i<numPDA;i++)
 
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                        {
 
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                                btVector3 norm;
 
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                                m_shape->getPreferredPenetrationDirection(i,norm);
 
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                                getUnitSpherePoints()[numSampleDirections] = norm;
 
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                                numSampleDirections++;
 
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                        }
 
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                }
 
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        }
 
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        btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
 
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        int i;
 
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        for (i = 0; i < numSampleDirections; i++)
 
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        {
 
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                supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
 
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        }
 
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        HullDesc hd;
 
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        hd.mFlags = QF_TRIANGLES;
 
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        hd.mVcount = static_cast<unsigned int>(numSampleDirections);
 
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#ifdef BT_USE_DOUBLE_PRECISION
 
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        hd.mVertices = &supportPoints[0];
 
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        hd.mVertexStride = sizeof(btVector3);
 
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#else
 
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        hd.mVertices = &supportPoints[0];
 
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        hd.mVertexStride = sizeof (btVector3);
 
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#endif
 
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        HullLibrary hl;
 
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        HullResult hr;
 
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        if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
 
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        {
 
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                return false;
 
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        }
 
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        m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
 
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        for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
 
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        {
 
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                m_vertices[i] = hr.m_OutputVertices[i];
 
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        }
 
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        m_numIndices = hr.mNumIndices;
 
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        m_indices.resize(static_cast<int>(m_numIndices));
 
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        for (i = 0; i < static_cast<int>(m_numIndices); i++)
 
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        {
 
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                m_indices[i] = hr.m_Indices[i];
 
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        }
 
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        // free temporary hull result that we just copied
 
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        hl.ReleaseResult (hr);
 
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        return true;
 
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}
 
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int
 
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btShapeHull::numTriangles () const
 
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{
 
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        return static_cast<int>(m_numIndices / 3);
 
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}
 
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int
 
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btShapeHull::numVertices () const
 
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{
 
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        return m_vertices.size ();
 
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}
 
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int
 
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btShapeHull::numIndices () const
 
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{
 
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        return static_cast<int>(m_numIndices);
 
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}
 
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btVector3* btShapeHull::getUnitSpherePoints()
 
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{
 
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        static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
 
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        {
 
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                btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
 
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                btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
 
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                btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
 
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                btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
 
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                btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
 
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                btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
 
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                btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
 
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                btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
 
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                btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
 
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                btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
 
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                btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
 
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                btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
 
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                btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
 
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                btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
 
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                btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
 
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                btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
 
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                btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
 
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                btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
 
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                btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
 
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                btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
 
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                btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
 
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                btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
 
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                btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
 
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                btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
 
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                btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
 
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                btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
 
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                btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
 
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                btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
 
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                btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
 
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                btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
 
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                btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
 
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                btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
 
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                btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
 
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                btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
 
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                btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
 
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                btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
 
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                btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
 
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                btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
 
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                btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
 
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                btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
 
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                btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
 
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                btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
 
167
        };
 
168
        return sUnitSpherePoints;
 
169
}
 
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