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-rw-r--r--tests/bullet/Extras/ConvexDecomposition/splitplane.cpp306
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diff --git a/tests/bullet/Extras/ConvexDecomposition/splitplane.cpp b/tests/bullet/Extras/ConvexDecomposition/splitplane.cpp
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+++ b/tests/bullet/Extras/ConvexDecomposition/splitplane.cpp
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+#include "float_math.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+#include <float.h>
+#include <math.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
+//
+
+#include "splitplane.h"
+#include "ConvexDecomposition.h"
+#include "cd_vector.h"
+#include "cd_hull.h"
+#include "cd_wavefront.h"
+#include "bestfit.h"
+#include "planetri.h"
+#include "vlookup.h"
+#include "meshvolume.h"
+
+namespace ConvexDecomposition
+{
+
+static void computePlane(const float *A,const float *B,const float *C,float *plane)
+{
+
+ float vx = (B[0] - C[0]);
+ float vy = (B[1] - C[1]);
+ float vz = (B[2] - C[2]);
+
+ float wx = (A[0] - B[0]);
+ float wy = (A[1] - B[1]);
+ float wz = (A[2] - B[2]);
+
+ float vw_x = vy * wz - vz * wy;
+ float vw_y = vz * wx - vx * wz;
+ float vw_z = vx * wy - vy * wx;
+
+ float mag = sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
+
+ if ( mag < 0.000001f )
+ {
+ mag = 0;
+ }
+ else
+ {
+ mag = 1.0f/mag;
+ }
+
+ float x = vw_x * mag;
+ float y = vw_y * mag;
+ float z = vw_z * mag;
+
+
+ float D = 0.0f - ((x*A[0])+(y*A[1])+(z*A[2]));
+
+ plane[0] = x;
+ plane[1] = y;
+ plane[2] = z;
+ plane[3] = D;
+
+}
+
+class Rect3d
+{
+public:
+ Rect3d(void) { };
+
+ Rect3d(const float *bmin,const float *bmax)
+ {
+
+ mMin[0] = bmin[0];
+ mMin[1] = bmin[1];
+ mMin[2] = bmin[2];
+
+ mMax[0] = bmax[0];
+ mMax[1] = bmax[1];
+ mMax[2] = bmax[2];
+
+ }
+
+ void SetMin(const float *bmin)
+ {
+ mMin[0] = bmin[0];
+ mMin[1] = bmin[1];
+ mMin[2] = bmin[2];
+ }
+
+ void SetMax(const float *bmax)
+ {
+ mMax[0] = bmax[0];
+ mMax[1] = bmax[1];
+ mMax[2] = bmax[2];
+ }
+
+ void SetMin(float x,float y,float z)
+ {
+ mMin[0] = x;
+ mMin[1] = y;
+ mMin[2] = z;
+ }
+
+ void SetMax(float x,float y,float z)
+ {
+ mMax[0] = x;
+ mMax[1] = y;
+ mMax[2] = z;
+ }
+
+ float mMin[3];
+ float mMax[3];
+};
+
+void splitRect(unsigned int axis,
+ const Rect3d &source,
+ Rect3d &b1,
+ Rect3d &b2,
+ const float *midpoint)
+{
+ switch ( axis )
+ {
+ case 0:
+ b1.SetMin(source.mMin);
+ b1.SetMax( midpoint[0], source.mMax[1], source.mMax[2] );
+
+ b2.SetMin( midpoint[0], source.mMin[1], source.mMin[2] );
+ b2.SetMax(source.mMax);
+
+ break;
+ case 1:
+ b1.SetMin(source.mMin);
+ b1.SetMax( source.mMax[0], midpoint[1], source.mMax[2] );
+
+ b2.SetMin( source.mMin[0], midpoint[1], source.mMin[2] );
+ b2.SetMax(source.mMax);
+
+ break;
+ case 2:
+ b1.SetMin(source.mMin);
+ b1.SetMax( source.mMax[0], source.mMax[1], midpoint[2] );
+
+ b2.SetMin( source.mMin[0], source.mMin[1], midpoint[2] );
+ b2.SetMax(source.mMax);
+
+ break;
+ }
+}
+
+bool computeSplitPlane(unsigned int vcount,
+ const float *vertices,
+ unsigned int tcount,
+ const unsigned int *indices,
+ ConvexDecompInterface *callback,
+ float *plane)
+{
+ float bmin[3] = { 1e9, 1e9, 1e9 };
+ float bmax[3] = { -1e9, -1e9, -1e9 };
+
+ for (unsigned int i=0; i<vcount; i++)
+ {
+ const float *p = &vertices[i*3];
+
+ if ( p[0] < bmin[0] ) bmin[0] = p[0];
+ if ( p[1] < bmin[1] ) bmin[1] = p[1];
+ if ( p[2] < bmin[2] ) bmin[2] = p[2];
+
+ if ( p[0] > bmax[0] ) bmax[0] = p[0];
+ if ( p[1] > bmax[1] ) bmax[1] = p[1];
+ if ( p[2] > bmax[2] ) bmax[2] = p[2];
+
+ }
+
+ float dx = bmax[0] - bmin[0];
+ float dy = bmax[1] - bmin[1];
+ float dz = bmax[2] - bmin[2];
+
+
+ float laxis = dx;
+
+ unsigned int axis = 0;
+
+ if ( dy > dx )
+ {
+ axis = 1;
+ laxis = dy;
+ }
+
+ if ( dz > dx && dz > dy )
+ {
+ axis = 2;
+ laxis = dz;
+ }
+
+ float p1[3];
+ float p2[3];
+ float p3[3];
+
+ p3[0] = p2[0] = p1[0] = bmin[0] + dx*0.5f;
+ p3[1] = p2[1] = p1[1] = bmin[1] + dy*0.5f;
+ p3[2] = p2[2] = p1[2] = bmin[2] + dz*0.5f;
+
+ Rect3d b(bmin,bmax);
+
+ Rect3d b1,b2;
+
+ splitRect(axis,b,b1,b2,p1);
+
+
+// callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00);
+// callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00);
+
+ switch ( axis )
+ {
+ case 0:
+ p2[1] = bmin[1];
+ p2[2] = bmin[2];
+
+ if ( dz > dy )
+ {
+ p3[1] = bmax[1];
+ p3[2] = bmin[2];
+ }
+ else
+ {
+ p3[1] = bmin[1];
+ p3[2] = bmax[2];
+ }
+
+ break;
+ case 1:
+ p2[0] = bmin[0];
+ p2[2] = bmin[2];
+
+ if ( dx > dz )
+ {
+ p3[0] = bmax[0];
+ p3[2] = bmin[2];
+ }
+ else
+ {
+ p3[0] = bmin[0];
+ p3[2] = bmax[2];
+ }
+
+ break;
+ case 2:
+ p2[0] = bmin[0];
+ p2[1] = bmin[1];
+
+ if ( dx > dy )
+ {
+ p3[0] = bmax[0];
+ p3[1] = bmin[1];
+ }
+ else
+ {
+ p3[0] = bmin[0];
+ p3[1] = bmax[1];
+ }
+
+ break;
+ }
+
+// callback->ConvexDebugTri(p1,p2,p3,0xFF0000);
+
+ computePlane(p1,p2,p3,plane);
+
+ return true;
+
+}
+
+
+}
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