update bullet test to compile from source

1 files changed, 128 insertions, 0 deletions

diff --git a/tests/bullet/Extras/ConvexDecomposition/meshvolume.cpp b/tests/bullet/Extras/ConvexDecomposition/meshvolume.cpp
new file mode 100644
index 00000000..b9dfa174
--- /dev/null
+++ b/tests/bullet/Extras/ConvexDecomposition/meshvolume.cpp
@@ -0,0 +1,128 @@
+#include "float_math.h"
+#include "meshvolume.h"
+
+/*----------------------------------------------------------------------
+		Copyright (c) 2004 Open Dynamics Framework Group
+					www.physicstools.org
+		All rights reserved.
+
+		Redistribution and use in source and binary forms, with or without modification, are permitted provided
+		that the following conditions are met:
+
+		Redistributions of source code must retain the above copyright notice, this list of conditions
+		and the following disclaimer.
+
+		Redistributions in binary form must reproduce the above copyright notice,
+		this list of conditions and the following disclaimer in the documentation
+		and/or other materials provided with the distribution.
+
+		Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
+		be used to endorse or promote products derived from this software without specific prior written permission.
+
+		THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
+		INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+		DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+		EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+		LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+		IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+		THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-----------------------------------------------------------------------*/
+
+// http://codesuppository.blogspot.com
+//
+// mailto: jratcliff@infiniplex.net
+//
+// http://www.amillionpixels.us
+//
+
+inline float det(const float *p1,const float *p2,const float *p3)
+{
+  return  p1[0]*p2[1]*p3[2] + p2[0]*p3[1]*p1[2] + p3[0]*p1[1]*p2[2] -p1[0]*p3[1]*p2[2] - p2[0]*p1[1]*p3[2] - p3[0]*p2[1]*p1[2];
+}
+
+float computeMeshVolume(const float *vertices,unsigned int tcount,const unsigned int *indices)
+{
+	float volume = 0;
+
+	for (unsigned int i=0; i<tcount; i++,indices+=3)
+	{
+
+		const float *p1 = &vertices[ indices[0]*3 ];
+		const float *p2 = &vertices[ indices[1]*3 ];
+		const float *p3 = &vertices[ indices[2]*3 ];
+
+		volume+=det(p1,p2,p3); // compute the volume of the tetrahedran relative to the origin.
+	}
+
+	volume*=(1.0f/6.0f);
+	if ( volume < 0 ) 
+		volume*=-1;
+	return volume;
+}
+
+
+inline void CrossProduct(const float *a,const float *b,float *cross)
+{
+	cross[0] = a[1]*b[2] - a[2]*b[1];
+	cross[1] = a[2]*b[0] - a[0]*b[2];
+	cross[2] = a[0]*b[1] - a[1]*b[0];
+}
+
+inline float DotProduct(const float *a,const float *b)
+{
+	return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+
+inline float tetVolume(const float *p0,const float *p1,const float *p2,const float *p3)
+{
+	float a[3];
+	float b[3];
+	float c[3];
+
+  a[0] = p1[0] - p0[0];
+  a[1] = p1[1] - p0[1];
+  a[2] = p1[2] - p0[2];
+
+	b[0] = p2[0] - p0[0];
+	b[1] = p2[1] - p0[1];
+	b[2] = p2[2] - p0[2];
+
+  c[0] = p3[0] - p0[0];
+  c[1] = p3[1] - p0[1];
+  c[2] = p3[2] - p0[2];
+
+  float cross[3];
+
+  CrossProduct( b, c, cross );
+
+	float volume = DotProduct( a, cross );
+
+  if ( volume < 0 )
+   return -volume;
+
+  return volume;
+}
+
+inline float det(const float *p0,const float *p1,const float *p2,const float *p3)
+{
+  return  p1[0]*p2[1]*p3[2] + p2[0]*p3[1]*p1[2] + p3[0]*p1[1]*p2[2] -p1[0]*p3[1]*p2[2] - p2[0]*p1[1]*p3[2] - p3[0]*p2[1]*p1[2];
+}
+
+float computeMeshVolume2(const float *vertices,unsigned int tcount,const unsigned int *indices)
+{
+	float volume = 0;
+
+	const float *p0 = vertices;
+	for (unsigned int i=0; i<tcount; i++,indices+=3)
+	{
+
+		const float *p1 = &vertices[ indices[0]*3 ];
+		const float *p2 = &vertices[ indices[1]*3 ];
+		const float *p3 = &vertices[ indices[2]*3 ];
+
+		volume+=tetVolume(p0,p1,p2,p3); // compute the volume of the tetrahdren relative to the root vertice
+	}
+
+  return volume * (1.0f / 6.0f );
+}
+