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source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h @ 8393

Last change on this file since 8393 was 8393, checked in by rgrieder, 13 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 4.7 KB
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17
18#ifndef BT_VORONOI_SIMPLEX_SOLVER_H
19#define BT_VORONOI_SIMPLEX_SOLVER_H
20
21#include "btSimplexSolverInterface.h"
22
23
24
25#define VORONOI_SIMPLEX_MAX_VERTS 5
26
27///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
28#define BT_USE_EQUAL_VERTEX_THRESHOLD
29#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
30
31
32struct btUsageBitfield{
33        btUsageBitfield()
34        {
35                reset();
36        }
37
38        void reset()
39        {
40                usedVertexA = false;
41                usedVertexB = false;
42                usedVertexC = false;
43                usedVertexD = false;
44        }
45        unsigned short usedVertexA      : 1;
46        unsigned short usedVertexB      : 1;
47        unsigned short usedVertexC      : 1;
48        unsigned short usedVertexD      : 1;
49        unsigned short unused1          : 1;
50        unsigned short unused2          : 1;
51        unsigned short unused3          : 1;
52        unsigned short unused4          : 1;
53};
54
55
56struct  btSubSimplexClosestResult
57{
58        btVector3       m_closestPointOnSimplex;
59        //MASK for m_usedVertices
60        //stores the simplex vertex-usage, using the MASK,
61        // if m_usedVertices & MASK then the related vertex is used
62        btUsageBitfield m_usedVertices;
63        btScalar        m_barycentricCoords[4];
64        bool m_degenerate;
65
66        void    reset()
67        {
68                m_degenerate = false;
69                setBarycentricCoordinates();
70                m_usedVertices.reset();
71        }
72        bool    isValid()
73        {
74                bool valid = (m_barycentricCoords[0] >= btScalar(0.)) &&
75                        (m_barycentricCoords[1] >= btScalar(0.)) &&
76                        (m_barycentricCoords[2] >= btScalar(0.)) &&
77                        (m_barycentricCoords[3] >= btScalar(0.));
78
79
80                return valid;
81        }
82        void    setBarycentricCoordinates(btScalar a=btScalar(0.),btScalar b=btScalar(0.),btScalar c=btScalar(0.),btScalar d=btScalar(0.))
83        {
84                m_barycentricCoords[0] = a;
85                m_barycentricCoords[1] = b;
86                m_barycentricCoords[2] = c;
87                m_barycentricCoords[3] = d;
88        }
89
90};
91
92/// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
93/// Can be used with GJK, as an alternative to Johnson distance algorithm.
94#ifdef NO_VIRTUAL_INTERFACE
95class btVoronoiSimplexSolver
96#else
97class btVoronoiSimplexSolver : public btSimplexSolverInterface
98#endif
99{
100public:
101
102        int     m_numVertices;
103
104        btVector3       m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
105        btVector3       m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
106        btVector3       m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
107
108       
109
110        btVector3       m_cachedP1;
111        btVector3       m_cachedP2;
112        btVector3       m_cachedV;
113        btVector3       m_lastW;
114       
115        btScalar        m_equalVertexThreshold;
116        bool            m_cachedValidClosest;
117
118
119        btSubSimplexClosestResult m_cachedBC;
120
121        bool    m_needsUpdate;
122       
123        void    removeVertex(int index);
124        void    reduceVertices (const btUsageBitfield& usedVerts);
125        bool    updateClosestVectorAndPoints();
126
127        bool    closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult);
128        int             pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);
129        bool    closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result);
130
131public:
132
133        btVoronoiSimplexSolver()
134                :  m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
135        {
136        }
137         void reset();
138
139         void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
140
141         void   setEqualVertexThreshold(btScalar threshold)
142         {
143                 m_equalVertexThreshold = threshold;
144         }
145
146         btScalar       getEqualVertexThreshold() const
147         {
148                 return m_equalVertexThreshold;
149         }
150
151         bool closest(btVector3& v);
152
153         btScalar maxVertex();
154
155         bool fullSimplex() const
156         {
157                 return (m_numVertices == 4);
158         }
159
160         int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const;
161
162         bool inSimplex(const btVector3& w);
163       
164         void backup_closest(btVector3& v) ;
165
166         bool emptySimplex() const ;
167
168         void compute_points(btVector3& p1, btVector3& p2) ;
169
170         int numVertices() const 
171         {
172                 return m_numVertices;
173         }
174
175
176};
177
178#endif //BT_VORONOI_SIMPLEX_SOLVER_H
179
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