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Update Bullet to the latest commit 126b676

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This commit is contained in:
Oussama
2019-01-03 14:26:51 +01:00
committed by Rémi Verschelde
parent a6722cf362
commit 22b7c9dfa8
612 changed files with 114715 additions and 103413 deletions
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113
thirdparty/bullet/LinearMath/btGeometryUtil.cpp vendored
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@@ -12,49 +12,43 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "btGeometryUtil.h"
/*
Make sure this dummy function never changes so that it
can be used by probes that are checking whether the
library is actually installed.
*/
extern "C"
{
void btBulletMathProbe ();
{
void btBulletMathProbe();
void btBulletMathProbe () {}
void btBulletMathProbe() {}
}
bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin)
bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin)
{
int numbrushes = planeEquations.size();
for (int i=0;i<numbrushes;i++)
for (int i = 0; i < numbrushes; i++)
{
const btVector3& N1 = planeEquations[i];
btScalar dist = btScalar(N1.dot(point))+btScalar(N1[3])-margin;
if (dist>btScalar(0.))
btScalar dist = btScalar(N1.dot(point)) + btScalar(N1[3]) - margin;
if (dist > btScalar(0.))
{
return false;
}
}
return true;
}
bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin)
bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray<btVector3>& vertices, btScalar margin)
{
int numvertices = vertices.size();
for (int i=0;i<numvertices;i++)
for (int i = 0; i < numvertices; i++)
{
const btVector3& N1 = vertices[i];
btScalar dist = btScalar(planeNormal.dot(N1))+btScalar(planeNormal[3])-margin;
if (dist>btScalar(0.))
btScalar dist = btScalar(planeNormal.dot(N1)) + btScalar(planeNormal[3]) - margin;
if (dist > btScalar(0.))
{
return false;
}
@@ -62,102 +56,98 @@ bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const
return true;
}
bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations);
bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations);
bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations)
bool notExist(const btVector3& planeEquation, const btAlignedObjectArray<btVector3>& planeEquations)
{
int numbrushes = planeEquations.size();
for (int i=0;i<numbrushes;i++)
for (int i = 0; i < numbrushes; i++)
{
const btVector3& N1 = planeEquations[i];
if (planeEquation.dot(N1) > btScalar(0.999))
{
return false;
}
}
}
return true;
}
void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut )
void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& planeEquationsOut)
{
const int numvertices = vertices.size();
const int numvertices = vertices.size();
// brute force:
for (int i=0;i<numvertices;i++)
for (int i = 0; i < numvertices; i++)
{
const btVector3& N1 = vertices[i];
for (int j=i+1;j<numvertices;j++)
for (int j = i + 1; j < numvertices; j++)
{
const btVector3& N2 = vertices[j];
for (int k=j+1;k<numvertices;k++)
{
for (int k = j + 1; k < numvertices; k++)
{
const btVector3& N3 = vertices[k];
btVector3 planeEquation,edge0,edge1;
edge0 = N2-N1;
edge1 = N3-N1;
btVector3 planeEquation, edge0, edge1;
edge0 = N2 - N1;
edge1 = N3 - N1;
btScalar normalSign = btScalar(1.);
for (int ww=0;ww<2;ww++)
for (int ww = 0; ww < 2; ww++)
{
planeEquation = normalSign * edge0.cross(edge1);
if (planeEquation.length2() > btScalar(0.0001))
{
planeEquation.normalize();
if (notExist(planeEquation,planeEquationsOut))
if (notExist(planeEquation, planeEquationsOut))
{
planeEquation[3] = -planeEquation.dot(N1);
//check if inside, and replace supportingVertexOut if needed
if (areVerticesBehindPlane(planeEquation,vertices,btScalar(0.01)))
{
planeEquationsOut.push_back(planeEquation);
}
//check if inside, and replace supportingVertexOut if needed
if (areVerticesBehindPlane(planeEquation, vertices, btScalar(0.01)))
{
planeEquationsOut.push_back(planeEquation);
}
}
}
normalSign = btScalar(-1.);
}
}
}
}
}
void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations , btAlignedObjectArray<btVector3>& verticesOut )
void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<btVector3>& planeEquations, btAlignedObjectArray<btVector3>& verticesOut)
{
const int numbrushes = planeEquations.size();
// brute force:
for (int i=0;i<numbrushes;i++)
for (int i = 0; i < numbrushes; i++)
{
const btVector3& N1 = planeEquations[i];
for (int j=i+1;j<numbrushes;j++)
for (int j = i + 1; j < numbrushes; j++)
{
const btVector3& N2 = planeEquations[j];
for (int k=j+1;k<numbrushes;k++)
{
for (int k = j + 1; k < numbrushes; k++)
{
const btVector3& N3 = planeEquations[k];
btVector3 n2n3; n2n3 = N2.cross(N3);
btVector3 n3n1; n3n1 = N3.cross(N1);
btVector3 n1n2; n1n2 = N1.cross(N2);
if ( ( n2n3.length2() > btScalar(0.0001) ) &&
( n3n1.length2() > btScalar(0.0001) ) &&
( n1n2.length2() > btScalar(0.0001) ) )
btVector3 n2n3;
n2n3 = N2.cross(N3);
btVector3 n3n1;
n3n1 = N3.cross(N1);
btVector3 n1n2;
n1n2 = N1.cross(N2);
if ((n2n3.length2() > btScalar(0.0001)) &&
(n3n1.length2() > btScalar(0.0001)) &&
(n1n2.length2() > btScalar(0.0001)))
{
//point P out of 3 plane equations:
// d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
//P = -------------------------------------------------------------------------
// N1 . ( N2 * N3 )
// d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
//P = -------------------------------------------------------------------------
// N1 . ( N2 * N3 )
btScalar quotient = (N1.dot(n2n3));
if (btFabs(quotient) > btScalar(0.000001))
@@ -172,7 +162,7 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt
potentialVertex *= quotient;
//check if inside, and replace supportingVertexOut if needed
if (isPointInsidePlanes(planeEquations,potentialVertex,btScalar(0.01)))
if (isPointInsidePlanes(planeEquations, potentialVertex, btScalar(0.01)))
{
verticesOut.push_back(potentialVertex);
}
@@ -182,4 +172,3 @@ void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray<bt
}
}
}