forked from bartvdbraak/blender
53 lines
1.1 KiB
C++
53 lines
1.1 KiB
C++
/*
|
|
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
|
|
*
|
|
* Permission to use, copy, modify, distribute and sell this software
|
|
* and its documentation for any purpose is hereby granted without fee,
|
|
* provided that the above copyright notice appear in all copies.
|
|
* Erwin Coumans makes no representations about the suitability
|
|
* of this software for any purpose.
|
|
* It is provided "as is" without express or implied warranty.
|
|
*/
|
|
#include <CollisionShapes/PolyhedralConvexShape.h>
|
|
|
|
PolyhedralConvexShape::PolyhedralConvexShape()
|
|
|
|
{
|
|
}
|
|
|
|
SimdVector3 PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
|
|
{
|
|
int i;
|
|
SimdVector3 supVec(0,0,0);
|
|
|
|
SimdScalar maxDot(-1e30f);
|
|
|
|
SimdVector3 vec = vec0;
|
|
SimdScalar lenSqr = vec.length2();
|
|
if (lenSqr < 0.0001f)
|
|
{
|
|
vec.setValue(1,0,0);
|
|
} else
|
|
{
|
|
float rlen = 1.f / sqrtf(lenSqr );
|
|
vec *= rlen;
|
|
}
|
|
|
|
SimdVector3 vtx;
|
|
SimdScalar newDot;
|
|
|
|
for (i=0;i<GetNumVertices();i++)
|
|
{
|
|
GetVertex(i,vtx);
|
|
newDot = vec.dot(vtx);
|
|
if (newDot > maxDot)
|
|
{
|
|
maxDot = newDot;
|
|
supVec = vtx;
|
|
}
|
|
}
|
|
|
|
return supVec;
|
|
|
|
}
|