moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h
+++ b/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h
@@ -0,0 +1,157 @@
+/*
+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.
+*/
+
+
+
+#ifndef VoronoiSimplexSolver_H
+#define VoronoiSimplexSolver_H
+
+#include "SimplexSolverInterface.h"
+
+
+
+#define VORONOI_SIMPLEX_MAX_VERTS 5
+
+struct UsageBitfield{
+	UsageBitfield()
+	{
+		reset();
+	}
+
+	void reset()
+	{
+		usedVertexA = false;
+		usedVertexB = false;
+		usedVertexC = false;
+		usedVertexD = false;
+	}
+	unsigned short usedVertexA	: 1;
+	unsigned short usedVertexB	: 1;
+	unsigned short usedVertexC	: 1;
+	unsigned short usedVertexD	: 1;
+	unsigned short unused1		: 1;
+	unsigned short unused2		: 1;
+	unsigned short unused3		: 1;
+	unsigned short unused4		: 1;
+};
+
+
+struct	SubSimplexClosestResult
+{
+	SimdPoint3	m_closestPointOnSimplex;
+	//MASK for m_usedVertices
+	//stores the simplex vertex-usage, using the MASK, 
+	// if m_usedVertices & MASK then the related vertex is used
+	UsageBitfield	m_usedVertices;
+	float	m_barycentricCoords[4];
+	bool m_degenerate;
+
+	void	Reset()
+	{
+		m_degenerate = false;
+		SetBarycentricCoordinates();
+		m_usedVertices.reset();
+	}
+	bool	IsValid()
+	{
+		bool valid = (m_barycentricCoords[0] >= 0.f) &&
+			(m_barycentricCoords[1] >= 0.f) &&
+			(m_barycentricCoords[2] >= 0.f) &&
+			(m_barycentricCoords[3] >= 0.f);
+
+
+		return valid;
+	}
+	void	SetBarycentricCoordinates(float a=0.f,float b=0.f,float c=0.f,float d=0.f)
+	{
+		m_barycentricCoords[0] = a;
+		m_barycentricCoords[1] = b;
+		m_barycentricCoords[2] = c;
+		m_barycentricCoords[3] = d;
+	}
+
+};
+
+/// VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
+/// Can be used with GJK, as an alternative to Johnson distance algorithm.
+#ifdef NO_VIRTUAL_INTERFACE
+class VoronoiSimplexSolver
+#else
+class VoronoiSimplexSolver : public SimplexSolverInterface
+#endif
+{
+public:
+
+	int	m_numVertices;
+
+	SimdVector3	m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
+	SimdPoint3	m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
+	SimdPoint3	m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
+
+	
+
+	SimdPoint3	m_cachedP1;
+	SimdPoint3	m_cachedP2;
+	SimdVector3	m_cachedV;
+	SimdVector3	m_lastW;
+	bool		m_cachedValidClosest;
+
+	SubSimplexClosestResult m_cachedBC;
+
+	bool	m_needsUpdate;
+	
+	void	removeVertex(int index);
+	void	ReduceVertices (const UsageBitfield& usedVerts);
+	bool	UpdateClosestVectorAndPoints();
+
+	bool	ClosestPtPointTetrahedron(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d, SubSimplexClosestResult& finalResult);
+	int		PointOutsideOfPlane(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d);
+	bool	ClosestPtPointTriangle(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c,SubSimplexClosestResult& result);
+
+public:
+
+	 void reset();
+
+	 void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q);
+
+
+	 bool closest(SimdVector3& v);
+
+	 SimdScalar maxVertex();
+
+	 bool fullSimplex() const
+	 {
+		 return (m_numVertices == 4);
+	 }
+
+	 int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const;
+
+	 bool inSimplex(const SimdVector3& w);
+	
+	 void backup_closest(SimdVector3& v) ;
+
+	 bool emptySimplex() const ;
+
+	 void compute_points(SimdPoint3& p1, SimdPoint3& p2) ;
+
+	 int numVertices() const 
+	 {
+		 return m_numVertices;
+	 }
+
+
+};
+
+#endif //VoronoiSimplexSolver