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added some brute-force way to shrink convex polyhedra (to compensate collision margin)

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made Extra/EPA compile again, updated Pierre's testbed to compile out-of-the-box
This commit is contained in:
ejcoumans
2006-11-11 03:22:15 +00:00
parent 438230b95b
commit 8cbd721a1f
11 changed files with 143 additions and 145 deletions
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84
Demos/BspDemo/BspConverter.cpp
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@@ -16,6 +16,7 @@ subject to the following restrictions:
#include "BspConverter.h"
#include "BspLoader.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btGeometryUtil.h"
void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
{
@@ -83,10 +84,8 @@ void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
{
std::vector<btVector3> vertices;
getVerticesFromPlaneEquations(planeEquations,vertices);
printf("getVerticesFromPlaneEquations returned %i\n",(int)vertices.size());
btGeometryUtil::getVerticesFromPlaneEquations(planeEquations,vertices);
bool isEntity = false;
btVector3 entityTarget(0.f,0.f,0.f);
addConvexVerticesCollider(vertices,isEntity,entityTarget);
@@ -160,7 +159,7 @@ void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
{
std::vector<btVector3> vertices;
getVerticesFromPlaneEquations(planeEquations,vertices);
btGeometryUtil::getVerticesFromPlaneEquations(planeEquations,vertices);
bool isEntity=true;
addConvexVerticesCollider(vertices,isEntity,targetLocation);
@@ -196,78 +195,3 @@ void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
void BspConverter::getVerticesFromPlaneEquations(const std::vector<btVector3>& planeEquations , std::vector<btVector3>& verticesOut )
{
const int numbrushes = planeEquations.size();
// brute force:
for (int i=0;i<numbrushes;i++)
{
const btVector3& N1 = planeEquations[i];
for (int j=i+1;j<numbrushes;j++)
{
const btVector3& N2 = planeEquations[j];
for (int k=j+1;k<numbrushes;k++)
{
const btVector3& N3 = planeEquations[k];
btVector3 n2n3; n2n3 = N2.cross(N3);
btVector3 n3n1; n3n1 = N3.cross(N1);
btVector3 n1n2; n1n2 = N1.cross(N2);
if ( ( n2n3.length2() > 0.0001f ) &&
( n3n1.length2() > 0.0001f ) &&
( n1n2.length2() > 0.0001f ) )
{
//point P out of 3 plane equations:
// d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
//P = -------------------------------------------------------------------------
// N1 . ( N2 * N3 )
float quotient = (N1.dot(n2n3));
if (btFabs(quotient) > 0.000001f)
{
quotient = -1.f / quotient;
n2n3 *= N1[3];
n3n1 *= N2[3];
n1n2 *= N3[3];
btVector3 potentialVertex = n2n3;
potentialVertex += n3n1;
potentialVertex += n1n2;
potentialVertex *= quotient;
//check if inside, and replace supportingVertexOut if needed
if (isInside(planeEquations,potentialVertex,0.1f))
{
verticesOut.push_back(potentialVertex);
}
}
}
}
}
}
}
bool BspConverter::isInside(const std::vector<btVector3>& planeEquations, const btVector3& point, float margin)
{
int numbrushes = planeEquations.size();
for (int i=0;i<numbrushes;i++)
{
const btVector3& N1 = planeEquations[i];
float dist = float(N1.dot(point))+float(N1[3])-margin;
if (dist>0.f)
{
return false;
}
}
return true;
}