forked from bartvdbraak/blender
af9573e9ea
- Changed license from MIT to ZLib. - Added 3D Sweep and Prune contribution - More stable native constraint solver Sorry for any inconvenience caused by this checkin. All Blender buildsystems require update: added files and moved files.
91 lines
2.5 KiB
C++
91 lines
2.5 KiB
C++
/*
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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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#include "ConeShape.h"
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#include "SimdPoint3.h"
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#ifdef WIN32
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static int coneindices[3] = {1,2,0};
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#else
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static int coneindices[3] = {2,1,0};
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#endif
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ConeShape::ConeShape (SimdScalar radius,SimdScalar height):
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m_radius (radius),
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m_height(height)
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{
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SimdVector3 halfExtents;
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m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
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}
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SimdVector3 ConeShape::ConeLocalSupport(const SimdVector3& v) const
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{
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float halfHeight = m_height * 0.5f;
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if (v[coneindices[1]] > v.length() * m_sinAngle)
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{
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SimdVector3 tmp;
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tmp[coneindices[0]] = 0.f;
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tmp[coneindices[1]] = halfHeight;
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tmp[coneindices[2]] = 0.f;
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return tmp;
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}
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else {
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SimdScalar s = SimdSqrt(v[coneindices[0]] * v[coneindices[0]] + v[coneindices[2]] * v[coneindices[2]]);
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if (s > SIMD_EPSILON) {
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SimdScalar d = m_radius / s;
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SimdVector3 tmp;
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tmp[coneindices[0]] = v[coneindices[0]] * d;
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tmp[coneindices[1]] = -halfHeight;
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tmp[coneindices[2]] = v[coneindices[2]] * d;
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return tmp;
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}
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else {
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SimdVector3 tmp;
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tmp[coneindices[0]] = 0.f;
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tmp[coneindices[1]] = -halfHeight;
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tmp[coneindices[2]] = 0.f;
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return tmp;
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}
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}
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}
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SimdVector3 ConeShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const
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{
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return ConeLocalSupport(vec);
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}
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SimdVector3 ConeShape::LocalGetSupportingVertex(const SimdVector3& vec) const
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{
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SimdVector3 supVertex = ConeLocalSupport(vec);
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if ( GetMargin()!=0.f )
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{
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SimdVector3 vecnorm = vec;
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if (vecnorm .length2() == 0.f)
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{
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vecnorm.setValue(-1.f,-1.f,-1.f);
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}
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vecnorm.normalize();
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supVertex+= GetMargin() * vecnorm;
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}
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return supVertex;
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}
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