157 lines
4.2 KiB
C++
157 lines
4.2 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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 SPUVoronoiSimplexSolver_H
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#define SPUVoronoiSimplexSolver_H
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#include <LinearMath/btTransform.h>
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#include <LinearMath/btPoint3.h>
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#define VORONOI_SIMPLEX_MAX_VERTS 5
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struct SpuUsageBitfield{
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SpuUsageBitfield()
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{
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reset();
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}
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void reset()
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{
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usedVertexA = false;
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usedVertexB = false;
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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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};
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struct SpuSubSimplexClosestResult
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{
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btVector3 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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// if m_usedVertices & MASK then the related vertex is used
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SpuUsageBitfield m_usedVertices;
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float m_barycentricCoords[4];
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bool m_degenerate;
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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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{
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bool valid = (m_barycentricCoords[0] >= float(0.)) &&
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(m_barycentricCoords[1] >= float(0.)) &&
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(m_barycentricCoords[2] >= float(0.)) &&
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(m_barycentricCoords[3] >= float(0.));
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return valid;
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}
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void setBarycentricCoordinates(float a=float(0.),float b=float(0.),float c=float(0.),float d=float(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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/// SpuVoronoiSimplexSolver 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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class SpuVoronoiSimplexSolver
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{
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public:
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int m_numVertices;
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btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
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btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
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btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
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int m_VertexIndexA[VORONOI_SIMPLEX_MAX_VERTS];
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int m_VertexIndexB[VORONOI_SIMPLEX_MAX_VERTS];
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btVector3 m_cachedP1;
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btVector3 m_cachedP2;
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btVector3 m_cachedV;
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btVector3 m_lastW;
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bool m_cachedValidClosest;
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SpuSubSimplexClosestResult m_cachedBC;
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bool m_needsUpdate;
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void removeVertex(int index);
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void reduceVertices (const SpuUsageBitfield& usedVerts);
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bool updateClosestVectorAndPoints();
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bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, SpuSubSimplexClosestResult& finalResult);
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int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);
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bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,SpuSubSimplexClosestResult& result);
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int RemoveDegenerateIndices (const int *inArray, int numIndices, int *outArray) const;
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public:
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void reset();
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void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q);
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bool closest(btVector3& v);
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btScalar 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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int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const;
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bool inSimplex(const btVector3& w);
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void backup_closest(btVector3& v) ;
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bool emptySimplex() const ;
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void compute_points(btVector3& p1, btVector3& 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 //SpuVoronoiSimplexSolver
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