Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -13,22 +13,19 @@ subject to the following restrictions:
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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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#ifndef B3_VORONOI_SIMPLEX_SOLVER_H
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#define B3_VORONOI_SIMPLEX_SOLVER_H
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#include "Bullet3Common/b3Vector3.h"
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#define VORONOI_SIMPLEX_MAX_VERTS 5
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///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
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//#define BT_USE_EQUAL_VERTEX_THRESHOLD
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#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
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struct b3UsageBitfield{
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struct b3UsageBitfield
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{
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b3UsageBitfield()
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{
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reset();
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@@ -41,137 +38,127 @@ struct b3UsageBitfield{
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usedVertexC = false;
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usedVertexD = false;
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}
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unsigned short usedVertexA : 1;
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unsigned short usedVertexB : 1;
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unsigned short usedVertexC : 1;
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unsigned short usedVertexD : 1;
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unsigned short unused1 : 1;
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unsigned short unused2 : 1;
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unsigned short unused3 : 1;
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unsigned short unused4 : 1;
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unsigned short usedVertexA : 1;
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unsigned short usedVertexB : 1;
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unsigned short usedVertexC : 1;
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unsigned short usedVertexD : 1;
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unsigned short unused1 : 1;
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unsigned short unused2 : 1;
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unsigned short unused3 : 1;
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unsigned short unused4 : 1;
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};
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struct b3SubSimplexClosestResult
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struct b3SubSimplexClosestResult
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{
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b3Vector3 m_closestPointOnSimplex;
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b3Vector3 m_closestPointOnSimplex;
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//MASK for m_usedVertices
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//stores the simplex vertex-usage, using the MASK,
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//stores the simplex vertex-usage, using the MASK,
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// if m_usedVertices & MASK then the related vertex is used
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b3UsageBitfield m_usedVertices;
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b3Scalar m_barycentricCoords[4];
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b3UsageBitfield m_usedVertices;
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b3Scalar m_barycentricCoords[4];
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bool m_degenerate;
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void reset()
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void reset()
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{
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m_degenerate = false;
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setBarycentricCoordinates();
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m_usedVertices.reset();
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}
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bool isValid()
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bool isValid()
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{
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bool valid = (m_barycentricCoords[0] >= b3Scalar(0.)) &&
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(m_barycentricCoords[1] >= b3Scalar(0.)) &&
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(m_barycentricCoords[2] >= b3Scalar(0.)) &&
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(m_barycentricCoords[3] >= b3Scalar(0.));
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(m_barycentricCoords[1] >= b3Scalar(0.)) &&
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(m_barycentricCoords[2] >= b3Scalar(0.)) &&
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(m_barycentricCoords[3] >= b3Scalar(0.));
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return valid;
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}
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void setBarycentricCoordinates(b3Scalar a=b3Scalar(0.),b3Scalar b=b3Scalar(0.),b3Scalar c=b3Scalar(0.),b3Scalar d=b3Scalar(0.))
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void setBarycentricCoordinates(b3Scalar a = b3Scalar(0.), b3Scalar b = b3Scalar(0.), b3Scalar c = b3Scalar(0.), b3Scalar d = b3Scalar(0.))
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{
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m_barycentricCoords[0] = a;
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m_barycentricCoords[1] = b;
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m_barycentricCoords[2] = c;
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m_barycentricCoords[3] = d;
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}
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};
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/// b3VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
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/// Can be used with GJK, as an alternative to Johnson distance algorithm.
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B3_ATTRIBUTE_ALIGNED16(class) b3VoronoiSimplexSolver
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B3_ATTRIBUTE_ALIGNED16(class)
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b3VoronoiSimplexSolver
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{
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public:
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B3_DECLARE_ALIGNED_ALLOCATOR();
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int m_numVertices;
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int m_numVertices;
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b3Vector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
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b3Vector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
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b3Vector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
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b3Vector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
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b3Vector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
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b3Vector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
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b3Vector3 m_cachedP1;
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b3Vector3 m_cachedP2;
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b3Vector3 m_cachedV;
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b3Vector3 m_lastW;
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b3Scalar m_equalVertexThreshold;
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bool m_cachedValidClosest;
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b3Vector3 m_cachedP1;
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b3Vector3 m_cachedP2;
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b3Vector3 m_cachedV;
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b3Vector3 m_lastW;
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b3Scalar m_equalVertexThreshold;
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bool m_cachedValidClosest;
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b3SubSimplexClosestResult m_cachedBC;
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bool m_needsUpdate;
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void removeVertex(int index);
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void reduceVertices (const b3UsageBitfield& usedVerts);
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bool updateClosestVectorAndPoints();
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bool m_needsUpdate;
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bool closestPtPointTetrahedron(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d, b3SubSimplexClosestResult& finalResult);
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int pointOutsideOfPlane(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d);
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bool closestPtPointTriangle(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c,b3SubSimplexClosestResult& result);
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void removeVertex(int index);
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void reduceVertices(const b3UsageBitfield& usedVerts);
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bool updateClosestVectorAndPoints();
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bool closestPtPointTetrahedron(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d, b3SubSimplexClosestResult& finalResult);
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int pointOutsideOfPlane(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d);
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bool closestPtPointTriangle(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, b3SubSimplexClosestResult& result);
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public:
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b3VoronoiSimplexSolver()
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: m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
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: m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
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{
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}
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void reset();
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void reset();
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void addVertex(const b3Vector3& w, const b3Vector3& p, const b3Vector3& q);
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void addVertex(const b3Vector3& w, const b3Vector3& p, const b3Vector3& q);
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void setEqualVertexThreshold(b3Scalar threshold)
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{
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m_equalVertexThreshold = threshold;
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}
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void setEqualVertexThreshold(b3Scalar threshold)
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{
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m_equalVertexThreshold = threshold;
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}
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b3Scalar getEqualVertexThreshold() const
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{
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return m_equalVertexThreshold;
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}
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b3Scalar getEqualVertexThreshold() const
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{
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return m_equalVertexThreshold;
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}
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bool closest(b3Vector3& v);
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bool closest(b3Vector3 & v);
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b3Scalar maxVertex();
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b3Scalar maxVertex();
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bool fullSimplex() const
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{
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return (m_numVertices == 4);
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}
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bool fullSimplex() const
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{
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return (m_numVertices == 4);
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}
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int getSimplex(b3Vector3 *pBuf, b3Vector3 *qBuf, b3Vector3 *yBuf) const;
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int getSimplex(b3Vector3 * pBuf, b3Vector3 * qBuf, b3Vector3 * yBuf) const;
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bool inSimplex(const b3Vector3& w);
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void backup_closest(b3Vector3& v) ;
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bool inSimplex(const b3Vector3& w);
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bool emptySimplex() const ;
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void backup_closest(b3Vector3 & v);
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void compute_points(b3Vector3& p1, b3Vector3& p2) ;
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int numVertices() const
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{
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return m_numVertices;
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}
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bool emptySimplex() const;
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void compute_points(b3Vector3 & p1, b3Vector3 & p2);
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int numVertices() const
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{
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return m_numVertices;
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}
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};
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#endif //B3_VORONOI_SIMPLEX_SOLVER_H
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#endif //B3_VORONOI_SIMPLEX_SOLVER_H
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