forked from bartvdbraak/blender
dad6ef9045
didn't check every single file, so might have broken some gameengine stuff, will fix it this weekend!
147 lines
3.2 KiB
C++
147 lines
3.2 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "ConvexHullShape.h"
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#include "NarrowPhaseCollision/CollisionMargin.h"
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#include "SimdQuaternion.h"
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ConvexHullShape ::ConvexHullShape (SimdPoint3* points,int numPoints)
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{
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m_points.resize(numPoints);
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for (int i=0;i<numPoints;i++)
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m_points[i] = points[i];
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}
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SimdVector3 ConvexHullShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
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{
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SimdVector3 supVec(0.f,0.f,0.f);
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SimdScalar newDot,maxDot = -1e30f;
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SimdVector3 vec = vec0;
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SimdScalar lenSqr = vec.length2();
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if (lenSqr < 0.0001f)
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{
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vec.setValue(1,0,0);
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} else
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{
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float rlen = 1.f / sqrtf(lenSqr );
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vec *= rlen;
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}
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for (int i=0;i<m_points.size();i++)
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{
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SimdPoint3 vtx = m_points[i] * m_localScaling;
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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return supVec;
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}
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SimdVector3 ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)const
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{
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SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(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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void ConvexHullShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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//not yet, return box inertia
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float margin = GetMargin();
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SimdTransform ident;
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ident.setIdentity();
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SimdVector3 aabbMin,aabbMax;
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GetAabb(ident,aabbMin,aabbMax);
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SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
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SimdScalar lx=2.f*(halfExtents.x()+margin);
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SimdScalar ly=2.f*(halfExtents.y()+margin);
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SimdScalar lz=2.f*(halfExtents.z()+margin);
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const SimdScalar x2 = lx*lx;
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const SimdScalar y2 = ly*ly;
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const SimdScalar z2 = lz*lz;
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const SimdScalar scaledmass = mass * 0.08333333f;
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inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
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}
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//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
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//Please note that you can debug-draw ConvexHullShape with the Raytracer Demo
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int ConvexHullShape::GetNumVertices() const
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{
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return m_points.size();
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}
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int ConvexHullShape::GetNumEdges() const
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{
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return m_points.size()*m_points.size();
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}
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void ConvexHullShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
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{
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int index0 = i%m_points.size();
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int index1 = i/m_points.size();
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pa = m_points[index0]*m_localScaling;
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pb = m_points[index1]*m_localScaling;
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}
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void ConvexHullShape::GetVertex(int i,SimdPoint3& vtx) const
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{
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vtx = m_points[i]*m_localScaling;
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}
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int ConvexHullShape::GetNumPlanes() const
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{
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return 0;
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}
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void ConvexHullShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
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{
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assert(0);
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}
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//not yet
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bool ConvexHullShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
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{
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assert(0);
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return false;
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}
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