add the 'extras' and Bullet 2 tests, to make it easier to create a new intermediate release
This commit is contained in:
erwin coumans
306
Extras/ConvexDecomposition/splitplane.cpp
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306
Extras/ConvexDecomposition/splitplane.cpp
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#include "float_math.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <assert.h>
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#include <float.h>
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#include <math.h>
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/*----------------------------------------------------------------------
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Copyright (c) 2004 Open Dynamics Framework Group
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www.physicstools.org
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided
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that the following conditions are met:
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Redistributions of source code must retain the above copyright notice, this list of conditions
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and the following disclaimer.
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Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
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be used to endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
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IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-----------------------------------------------------------------------*/
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// http://codesuppository.blogspot.com
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//
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// mailto: jratcliff@infiniplex.net
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//
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// http://www.amillionpixels.us
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//
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#include "splitplane.h"
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#include "ConvexDecomposition.h"
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#include "cd_vector.h"
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#include "cd_hull.h"
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#include "cd_wavefront.h"
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#include "bestfit.h"
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#include "planetri.h"
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#include "vlookup.h"
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#include "meshvolume.h"
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namespace ConvexDecomposition
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{
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static void computePlane(const float *A,const float *B,const float *C,float *plane)
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{
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float vx = (B[0] - C[0]);
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float vy = (B[1] - C[1]);
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float vz = (B[2] - C[2]);
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float wx = (A[0] - B[0]);
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float wy = (A[1] - B[1]);
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float wz = (A[2] - B[2]);
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float vw_x = vy * wz - vz * wy;
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float vw_y = vz * wx - vx * wz;
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float vw_z = vx * wy - vy * wx;
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float mag = sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
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if ( mag < 0.000001f )
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{
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mag = 0;
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}
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else
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{
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mag = 1.0f/mag;
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}
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float x = vw_x * mag;
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float y = vw_y * mag;
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float z = vw_z * mag;
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float D = 0.0f - ((x*A[0])+(y*A[1])+(z*A[2]));
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plane[0] = x;
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plane[1] = y;
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plane[2] = z;
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plane[3] = D;
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}
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class Rect3d
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{
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public:
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Rect3d(void) { };
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Rect3d(const float *bmin,const float *bmax)
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{
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mMin[0] = bmin[0];
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mMin[1] = bmin[1];
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mMin[2] = bmin[2];
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mMax[0] = bmax[0];
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mMax[1] = bmax[1];
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mMax[2] = bmax[2];
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}
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void SetMin(const float *bmin)
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{
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mMin[0] = bmin[0];
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mMin[1] = bmin[1];
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mMin[2] = bmin[2];
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}
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void SetMax(const float *bmax)
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{
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mMax[0] = bmax[0];
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mMax[1] = bmax[1];
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mMax[2] = bmax[2];
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}
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void SetMin(float x,float y,float z)
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{
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mMin[0] = x;
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mMin[1] = y;
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mMin[2] = z;
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}
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void SetMax(float x,float y,float z)
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{
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mMax[0] = x;
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mMax[1] = y;
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mMax[2] = z;
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}
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float mMin[3];
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float mMax[3];
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};
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void splitRect(unsigned int axis,
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const Rect3d &source,
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Rect3d &b1,
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Rect3d &b2,
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const float *midpoint)
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{
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switch ( axis )
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{
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case 0:
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b1.SetMin(source.mMin);
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b1.SetMax( midpoint[0], source.mMax[1], source.mMax[2] );
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b2.SetMin( midpoint[0], source.mMin[1], source.mMin[2] );
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b2.SetMax(source.mMax);
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break;
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case 1:
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b1.SetMin(source.mMin);
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b1.SetMax( source.mMax[0], midpoint[1], source.mMax[2] );
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b2.SetMin( source.mMin[0], midpoint[1], source.mMin[2] );
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b2.SetMax(source.mMax);
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break;
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case 2:
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b1.SetMin(source.mMin);
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b1.SetMax( source.mMax[0], source.mMax[1], midpoint[2] );
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b2.SetMin( source.mMin[0], source.mMin[1], midpoint[2] );
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b2.SetMax(source.mMax);
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break;
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}
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}
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bool computeSplitPlane(unsigned int vcount,
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const float *vertices,
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unsigned int tcount,
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const unsigned int *indices,
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ConvexDecompInterface *callback,
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float *plane)
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{
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float bmin[3] = { 1e9, 1e9, 1e9 };
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float bmax[3] = { -1e9, -1e9, -1e9 };
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for (unsigned int i=0; i<vcount; i++)
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{
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const float *p = &vertices[i*3];
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if ( p[0] < bmin[0] ) bmin[0] = p[0];
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if ( p[1] < bmin[1] ) bmin[1] = p[1];
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if ( p[2] < bmin[2] ) bmin[2] = p[2];
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if ( p[0] > bmax[0] ) bmax[0] = p[0];
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if ( p[1] > bmax[1] ) bmax[1] = p[1];
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if ( p[2] > bmax[2] ) bmax[2] = p[2];
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}
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float dx = bmax[0] - bmin[0];
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float dy = bmax[1] - bmin[1];
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float dz = bmax[2] - bmin[2];
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float laxis = dx;
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unsigned int axis = 0;
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if ( dy > dx )
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{
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axis = 1;
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laxis = dy;
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}
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if ( dz > dx && dz > dy )
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{
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axis = 2;
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laxis = dz;
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}
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float p1[3];
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float p2[3];
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float p3[3];
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p3[0] = p2[0] = p1[0] = bmin[0] + dx*0.5f;
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p3[1] = p2[1] = p1[1] = bmin[1] + dy*0.5f;
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p3[2] = p2[2] = p1[2] = bmin[2] + dz*0.5f;
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Rect3d b(bmin,bmax);
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Rect3d b1,b2;
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splitRect(axis,b,b1,b2,p1);
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// callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00);
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// callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00);
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switch ( axis )
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{
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case 0:
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p2[1] = bmin[1];
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p2[2] = bmin[2];
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if ( dz > dy )
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{
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p3[1] = bmax[1];
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p3[2] = bmin[2];
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}
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else
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{
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p3[1] = bmin[1];
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p3[2] = bmax[2];
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}
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break;
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case 1:
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p2[0] = bmin[0];
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p2[2] = bmin[2];
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if ( dx > dz )
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{
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p3[0] = bmax[0];
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p3[2] = bmin[2];
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}
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else
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{
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p3[0] = bmin[0];
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p3[2] = bmax[2];
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}
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break;
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case 2:
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p2[0] = bmin[0];
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p2[1] = bmin[1];
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if ( dx > dy )
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{
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p3[0] = bmax[0];
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p3[1] = bmin[1];
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}
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else
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{
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p3[0] = bmin[0];
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p3[1] = bmax[1];
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}
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break;
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}
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// callback->ConvexDebugTri(p1,p2,p3,0xFF0000);
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computePlane(p1,p2,p3,plane);
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return true;
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}
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}
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