moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Bullet/CollisionShapes/ConvexHullShape.cpp
+++ b/Bullet/CollisionShapes/ConvexHullShape.cpp
@@ -0,0 +1,160 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#include "ConvexHullShape.h"
+#include "CollisionShapes/CollisionMargin.h"
+
+#include "SimdQuaternion.h"
+
+
+ConvexHullShape ::ConvexHullShape (SimdPoint3* points,int numPoints)
+{
+	m_points.resize(numPoints);
+	for (int i=0;i<numPoints;i++)
+		m_points[i] = points[i];
+}
+
+SimdVector3	ConvexHullShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
+{
+	SimdVector3 supVec(0.f,0.f,0.f);
+	SimdScalar newDot,maxDot = -1e30f;
+
+	SimdVector3 vec = vec0;
+	SimdScalar lenSqr = vec.length2();
+	if (lenSqr < 0.0001f)
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		float rlen = 1.f / SimdSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+
+	for (size_t i=0;i<m_points.size();i++)
+	{
+		SimdPoint3 vtx = m_points[i] * m_localScaling;
+
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+	return supVec;
+}
+
+void	ConvexHullShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+	SimdScalar newDot;
+	//use 'w' component of supportVerticesOut?
+	{
+		for (int i=0;i<numVectors;i++)
+		{
+			supportVerticesOut[i][3] = -1e30f;
+		}
+	}
+	for (size_t i=0;i<m_points.size();i++)
+	{
+		SimdPoint3 vtx = m_points[i] * m_localScaling;
+
+		for (int j=0;j<numVectors;j++)
+		{
+			const SimdVector3& vec = vectors[j];
+			
+			newDot = vec.dot(vtx);
+			if (newDot > supportVerticesOut[j][3])
+			{
+				//WARNING: don't swap next lines, the w component would get overwritten!
+				supportVerticesOut[j] = vtx;
+				supportVerticesOut[j][3] = newDot;
+			}
+		}
+	}
+
+
+
+}
+	
+
+
+SimdVector3	ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)const
+{
+	SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
+
+	if ( GetMargin()!=0.f )
+	{
+		SimdVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(-1.f,-1.f,-1.f);
+		} 
+		vecnorm.normalize();
+		supVertex+= GetMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+
+
+
+
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw ConvexHullShape with the Raytracer Demo
+int	ConvexHullShape::GetNumVertices() const
+{
+	return m_points.size();
+}
+
+int ConvexHullShape::GetNumEdges() const
+{
+	return m_points.size()*m_points.size();
+}
+
+void ConvexHullShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
+{
+
+	int index0 = i%m_points.size();
+	int index1 = i/m_points.size();
+	pa = m_points[index0]*m_localScaling;
+	pb = m_points[index1]*m_localScaling;
+}
+
+void ConvexHullShape::GetVertex(int i,SimdPoint3& vtx) const
+{
+	vtx = m_points[i]*m_localScaling;
+}
+
+int	ConvexHullShape::GetNumPlanes() const
+{
+	return 0;
+}
+
+void ConvexHullShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
+{
+	assert(0);
+}
+
+//not yet
+bool ConvexHullShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
+{
+	assert(0);
+	return false;
+}
+