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
@@ -23,196 +23,181 @@ subject to the following restrictions:
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#include "btTriangleShapeEx.h"
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void GIM_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
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btScalar margin, const btVector3 * points, int point_count)
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void GIM_TRIANGLE_CONTACT::merge_points(const btVector4& plane,
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btScalar margin, const btVector3* points, int point_count)
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{
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m_point_count = 0;
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m_penetration_depth= -1000.0f;
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m_point_count = 0;
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m_penetration_depth = -1000.0f;
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int point_indices[MAX_TRI_CLIPPING];
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int point_indices[MAX_TRI_CLIPPING];
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int _k;
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for ( _k=0;_k<point_count;_k++)
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{
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btScalar _dist = - bt_distance_point_plane(plane,points[_k]) + margin;
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for (_k = 0; _k < point_count; _k++)
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{
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btScalar _dist = -bt_distance_point_plane(plane, points[_k]) + margin;
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if (_dist>=0.0f)
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{
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if (_dist>m_penetration_depth)
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{
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m_penetration_depth = _dist;
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point_indices[0] = _k;
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m_point_count=1;
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}
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else if ((_dist+SIMD_EPSILON)>=m_penetration_depth)
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{
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point_indices[m_point_count] = _k;
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m_point_count++;
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}
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}
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}
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if (_dist >= 0.0f)
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{
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if (_dist > m_penetration_depth)
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{
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m_penetration_depth = _dist;
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point_indices[0] = _k;
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m_point_count = 1;
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}
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else if ((_dist + SIMD_EPSILON) >= m_penetration_depth)
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{
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point_indices[m_point_count] = _k;
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m_point_count++;
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}
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}
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}
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for ( _k=0;_k<m_point_count;_k++)
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{
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m_points[_k] = points[point_indices[_k]];
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}
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for (_k = 0; _k < m_point_count; _k++)
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{
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m_points[_k] = points[point_indices[_k]];
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}
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}
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///class btPrimitiveTriangle
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bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other)
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{
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btScalar total_margin = m_margin + other.m_margin;
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// classify points on other triangle
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btScalar dis0 = bt_distance_point_plane(m_plane,other.m_vertices[0]) - total_margin;
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btScalar total_margin = m_margin + other.m_margin;
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// classify points on other triangle
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btScalar dis0 = bt_distance_point_plane(m_plane, other.m_vertices[0]) - total_margin;
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btScalar dis1 = bt_distance_point_plane(m_plane,other.m_vertices[1]) - total_margin;
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btScalar dis1 = bt_distance_point_plane(m_plane, other.m_vertices[1]) - total_margin;
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btScalar dis2 = bt_distance_point_plane(m_plane,other.m_vertices[2]) - total_margin;
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btScalar dis2 = bt_distance_point_plane(m_plane, other.m_vertices[2]) - total_margin;
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if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
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if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
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// classify points on this triangle
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dis0 = bt_distance_point_plane(other.m_plane,m_vertices[0]) - total_margin;
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// classify points on this triangle
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dis0 = bt_distance_point_plane(other.m_plane, m_vertices[0]) - total_margin;
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dis1 = bt_distance_point_plane(other.m_plane,m_vertices[1]) - total_margin;
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dis1 = bt_distance_point_plane(other.m_plane, m_vertices[1]) - total_margin;
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dis2 = bt_distance_point_plane(other.m_plane,m_vertices[2]) - total_margin;
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dis2 = bt_distance_point_plane(other.m_plane, m_vertices[2]) - total_margin;
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if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
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if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
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return true;
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return true;
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}
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int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points )
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int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle& other, btVector3* clipped_points)
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{
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// edge 0
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// edge 0
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btVector3 temp_points[MAX_TRI_CLIPPING];
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btVector3 temp_points[MAX_TRI_CLIPPING];
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btVector4 edgeplane;
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btVector4 edgeplane;
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get_edge_plane(0, edgeplane);
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get_edge_plane(0,edgeplane);
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int clipped_count = bt_plane_clip_triangle(
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edgeplane, other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], temp_points);
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if (clipped_count == 0) return 0;
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int clipped_count = bt_plane_clip_triangle(
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edgeplane,other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],temp_points);
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btVector3 temp_points1[MAX_TRI_CLIPPING];
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if (clipped_count == 0) return 0;
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// edge 1
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get_edge_plane(1, edgeplane);
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btVector3 temp_points1[MAX_TRI_CLIPPING];
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clipped_count = bt_plane_clip_polygon(edgeplane, temp_points, clipped_count, temp_points1);
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if (clipped_count == 0) return 0;
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// edge 1
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get_edge_plane(1,edgeplane);
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// edge 2
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get_edge_plane(2, edgeplane);
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clipped_count = bt_plane_clip_polygon(
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edgeplane, temp_points1, clipped_count, clipped_points);
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clipped_count = bt_plane_clip_polygon(edgeplane,temp_points,clipped_count,temp_points1);
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if (clipped_count == 0) return 0;
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// edge 2
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get_edge_plane(2,edgeplane);
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clipped_count = bt_plane_clip_polygon(
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edgeplane,temp_points1,clipped_count,clipped_points);
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return clipped_count;
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return clipped_count;
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}
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bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts)
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bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle& other, GIM_TRIANGLE_CONTACT& contacts)
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{
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btScalar margin = m_margin + other.m_margin;
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btScalar margin = m_margin + other.m_margin;
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btVector3 clipped_points[MAX_TRI_CLIPPING];
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int clipped_count;
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//create planes
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// plane v vs U points
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btVector3 clipped_points[MAX_TRI_CLIPPING];
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int clipped_count;
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//create planes
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// plane v vs U points
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GIM_TRIANGLE_CONTACT contacts1;
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GIM_TRIANGLE_CONTACT contacts1;
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contacts1.m_separating_normal = m_plane;
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contacts1.m_separating_normal = m_plane;
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clipped_count = clip_triangle(other, clipped_points);
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clipped_count = clip_triangle(other,clipped_points);
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if (clipped_count == 0)
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{
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return false; //Reject
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}
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if (clipped_count == 0 )
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{
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return false;//Reject
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}
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//find most deep interval face1
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contacts1.merge_points(contacts1.m_separating_normal, margin, clipped_points, clipped_count);
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if (contacts1.m_point_count == 0) return false; // too far
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//Normal pointing to this triangle
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contacts1.m_separating_normal *= -1.f;
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//find most deep interval face1
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contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count);
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if (contacts1.m_point_count == 0) return false; // too far
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//Normal pointing to this triangle
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contacts1.m_separating_normal *= -1.f;
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//Clip tri1 by tri2 edges
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GIM_TRIANGLE_CONTACT contacts2;
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contacts2.m_separating_normal = other.m_plane;
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clipped_count = other.clip_triangle(*this, clipped_points);
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//Clip tri1 by tri2 edges
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GIM_TRIANGLE_CONTACT contacts2;
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contacts2.m_separating_normal = other.m_plane;
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if (clipped_count == 0)
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{
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return false; //Reject
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}
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clipped_count = other.clip_triangle(*this,clipped_points);
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//find most deep interval face1
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contacts2.merge_points(contacts2.m_separating_normal, margin, clipped_points, clipped_count);
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if (contacts2.m_point_count == 0) return false; // too far
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if (clipped_count == 0 )
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{
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return false;//Reject
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}
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//find most deep interval face1
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contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count);
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if (contacts2.m_point_count == 0) return false; // too far
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////check most dir for contacts
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if (contacts2.m_penetration_depth<contacts1.m_penetration_depth)
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{
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contacts.copy_from(contacts2);
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}
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else
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{
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contacts.copy_from(contacts1);
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}
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return true;
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////check most dir for contacts
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if (contacts2.m_penetration_depth < contacts1.m_penetration_depth)
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{
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contacts.copy_from(contacts2);
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}
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else
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{
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contacts.copy_from(contacts1);
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}
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return true;
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}
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///class btTriangleShapeEx: public btTriangleShape
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bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other)
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{
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btScalar total_margin = getMargin() + other.getMargin();
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btScalar total_margin = getMargin() + other.getMargin();
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btVector4 plane0;
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buildTriPlane(plane0);
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btVector4 plane1;
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other.buildTriPlane(plane1);
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btVector4 plane0;
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buildTriPlane(plane0);
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btVector4 plane1;
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other.buildTriPlane(plane1);
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// classify points on other triangle
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btScalar dis0 = bt_distance_point_plane(plane0,other.m_vertices1[0]) - total_margin;
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// classify points on other triangle
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btScalar dis0 = bt_distance_point_plane(plane0, other.m_vertices1[0]) - total_margin;
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btScalar dis1 = bt_distance_point_plane(plane0,other.m_vertices1[1]) - total_margin;
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btScalar dis1 = bt_distance_point_plane(plane0, other.m_vertices1[1]) - total_margin;
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btScalar dis2 = bt_distance_point_plane(plane0,other.m_vertices1[2]) - total_margin;
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btScalar dis2 = bt_distance_point_plane(plane0, other.m_vertices1[2]) - total_margin;
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if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
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if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
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// classify points on this triangle
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dis0 = bt_distance_point_plane(plane1,m_vertices1[0]) - total_margin;
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// classify points on this triangle
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dis0 = bt_distance_point_plane(plane1, m_vertices1[0]) - total_margin;
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dis1 = bt_distance_point_plane(plane1,m_vertices1[1]) - total_margin;
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dis1 = bt_distance_point_plane(plane1, m_vertices1[1]) - total_margin;
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dis2 = bt_distance_point_plane(plane1,m_vertices1[2]) - total_margin;
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dis2 = bt_distance_point_plane(plane1, m_vertices1[2]) - total_margin;
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if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
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if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
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return true;
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return true;
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}
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