diff options
| author | Alon Zakai <alonzakai@gmail.com> | 2011-04-21 17:55:35 -0700 |
|---|---|---|
| committer | Alon Zakai <alonzakai@gmail.com> | 2011-04-21 17:55:35 -0700 |
| commit | 887ce3dde89410d012a708c3ec454f679b2e5b1e (patch) | |
| tree | daeadbc86bf721a5d4fff109a1d87a4c69215905 /tests/bullet/src/LinearMath/btConvexHullComputer.h | |
| parent | b3f4022e35b34002f44aacde554cc8b3ea927500 (diff) | |
update bullet test to compile from source
Diffstat (limited to 'tests/bullet/src/LinearMath/btConvexHullComputer.h')
| -rw-r--r-- | tests/bullet/src/LinearMath/btConvexHullComputer.h | 103 |
1 files changed, 103 insertions, 0 deletions
diff --git a/tests/bullet/src/LinearMath/btConvexHullComputer.h b/tests/bullet/src/LinearMath/btConvexHullComputer.h new file mode 100644 index 00000000..f1d26307 --- /dev/null +++ b/tests/bullet/src/LinearMath/btConvexHullComputer.h @@ -0,0 +1,103 @@ +/*
+Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. 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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONVEX_HULL_COMPUTER_H
+#define BT_CONVEX_HULL_COMPUTER_H
+
+#include "btVector3.h"
+#include "btAlignedObjectArray.h"
+
+/// Convex hull implementation based on Preparata and Hong
+/// See http://code.google.com/p/bullet/issues/detail?id=275
+/// Ole Kniemeyer, MAXON Computer GmbH
+class btConvexHullComputer
+{
+ private:
+ btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp);
+
+ public:
+
+ class Edge
+ {
+ private:
+ int next;
+ int reverse;
+ int targetVertex;
+
+ friend class btConvexHullComputer;
+
+ public:
+ int getSourceVertex() const
+ {
+ return (this + reverse)->targetVertex;
+ }
+
+ int getTargetVertex() const
+ {
+ return targetVertex;
+ }
+
+ const Edge* getNextEdgeOfVertex() const // counter-clockwise list of all edges of a vertex
+ {
+ return this + next;
+ }
+
+ const Edge* getNextEdgeOfFace() const // clockwise list of all edges of a face
+ {
+ return (this + reverse)->getNextEdgeOfVertex();
+ }
+
+ const Edge* getReverseEdge() const
+ {
+ return this + reverse;
+ }
+ };
+
+
+ // Vertices of the output hull
+ btAlignedObjectArray<btVector3> vertices;
+
+ // Edges of the output hull
+ btAlignedObjectArray<Edge> edges;
+
+ // Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
+ btAlignedObjectArray<int> faces;
+
+ /*
+ Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes
+ between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken
+ by that amount (each face is moved by "shrink" length units towards the center along its normal).
+ If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius"
+ is the minimum distance of a face to the center of the convex hull.
+
+ The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large
+ that the resulting convex hull is empty.
+
+ The output convex hull can be found in the member variables "vertices", "edges", "faces".
+ */
+ btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
+ {
+ return compute(coords, false, stride, count, shrink, shrinkClamp);
+ }
+
+ // same as above, but double precision
+ btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
+ {
+ return compute(coords, true, stride, count, shrink, shrinkClamp);
+ }
+};
+
+
+#endif //BT_CONVEX_HULL_COMPUTER_H
+
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