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Add btConvexHullShape::optimizeConvexHull method,

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it automatically removes vertices that are not on the convex hull.
It uses the btConvexHullComputer for this.
This commit is contained in:
Erwin Coumans
2016-05-04 13:01:06 -07:00
parent ec5806a979
commit 372c4ef9c1
2 changed files with 15 additions and 7 deletions
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17
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
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@@ -22,6 +22,8 @@ subject to the following restrictions:
#include "LinearMath/btQuaternion.h" #include "LinearMath/btQuaternion.h"
#include "LinearMath/btSerializer.h" #include "LinearMath/btSerializer.h"
#include "btConvexPolyhedron.h"
#include "LinearMath/btConvexHullComputer.h"
btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape () btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
{ {
@@ -121,10 +123,17 @@ btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
} }
void btConvexHullShape::optimizeConvexHull()
{
btConvexHullComputer conv;
conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3),m_unscaledPoints.size(),0.f,0.f);
int numVerts = conv.vertices.size();
m_unscaledPoints.resize(0);
for (int i=0;i<numVerts;i++)
{
m_unscaledPoints.push_back(conv.vertices[i]);
}
}

5
src/BulletCollision/CollisionShapes/btConvexHullShape.h
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@@ -55,9 +55,8 @@ public:
return getUnscaledPoints(); return getUnscaledPoints();
} }
void optimizeConvexHull();
SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
{ {
return m_unscaledPoints[i] * m_localScaling; return m_unscaledPoints[i] * m_localScaling;