mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-05 23:31:06 +00:00
106 lines
3.1 KiB
C++
106 lines
3.1 KiB
C++
/*
|
|
* SOLID - Software Library for Interference Detection
|
|
*
|
|
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
|
|
*
|
|
* This library may be distributed under the terms of the Q Public License
|
|
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
|
|
* LICENSE.QPL included in the packaging of this file.
|
|
*
|
|
* This library may be distributed and/or modified under the terms of the
|
|
* GNU General Public License (GPL) version 2 as published by the Free Software
|
|
* Foundation and appearing in the file LICENSE.GPL included in the
|
|
* packaging of this file.
|
|
*
|
|
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
|
|
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
|
|
*
|
|
* Commercial use or any other use of this library not covered by either
|
|
* the QPL or the GPL requires an additional license from Dtecta.
|
|
* Please contact info@dtecta.com for enquiries about the terms of commercial
|
|
* use of this library.
|
|
*/
|
|
|
|
#ifndef SOLID3JOHNSON_SIMPLEX_SOLVER_H
|
|
#define SOLID3JOHNSON_SIMPLEX_SOLVER_H
|
|
|
|
#include "NarrowPhaseCollision/SimplexSolverInterface.h"
|
|
|
|
//#define JOHNSON_ROBUST
|
|
|
|
|
|
/// Solid3JohnsonSimplexSolver contains Johnson subdistance algorithm from Solid 3.5 library
|
|
class Solid3JohnsonSimplexSolver : public SimplexSolverInterface
|
|
{
|
|
|
|
private:
|
|
typedef unsigned int T_Bits;
|
|
inline static bool subseteq(T_Bits a, T_Bits b) { return (a & b) == a; }
|
|
inline static bool contains(T_Bits a, T_Bits b) { return (a & b) != 0x0; }
|
|
|
|
void update_cache();
|
|
void compute_det();
|
|
bool valid(T_Bits s);
|
|
bool proper(T_Bits s);
|
|
void compute_vector(T_Bits s, SimdVector3& v);
|
|
|
|
|
|
SimdScalar m_det[16][4]; // cached sub-determinants
|
|
SimdVector3 m_edge[4][4];
|
|
|
|
#ifdef JOHNSON_ROBUST
|
|
SimdScalar m_norm[4][4];
|
|
#endif
|
|
|
|
SimdPoint3 m_p[4]; // support points of object A in local coordinates
|
|
SimdPoint3 m_q[4]; // support points of object B in local coordinates
|
|
SimdVector3 m_y[4]; // support points of A - B in world coordinates
|
|
SimdScalar m_ylen2[4]; // Squared lengths support points y
|
|
|
|
SimdScalar m_maxlen2; // Maximum squared length to a vertex of the current
|
|
// simplex
|
|
T_Bits m_bits1; // identifies current simplex
|
|
T_Bits m_last; // identifies last found support point
|
|
T_Bits m_last_bit; // m_last_bit == 0x1 << last
|
|
T_Bits m_all_bits; // m_all_bits == m_bits | m_last_bit
|
|
|
|
|
|
|
|
private:
|
|
|
|
|
|
void addVertex(const SimdVector3& w);
|
|
|
|
public:
|
|
Solid3JohnsonSimplexSolver();
|
|
|
|
virtual ~Solid3JohnsonSimplexSolver();
|
|
|
|
virtual void reset();
|
|
|
|
virtual void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q);
|
|
|
|
virtual bool closest(SimdVector3& v);
|
|
|
|
virtual SimdScalar maxVertex();
|
|
|
|
virtual bool fullSimplex() const;
|
|
|
|
virtual int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const;
|
|
|
|
virtual bool inSimplex(const SimdVector3& w);
|
|
|
|
virtual void backup_closest(SimdVector3& v) ;
|
|
|
|
virtual bool emptySimplex() const ;
|
|
|
|
virtual void compute_points(SimdPoint3& p1, SimdPoint3& p2) ;
|
|
|
|
virtual int numVertices() const ;
|
|
|
|
|
|
};
|
|
|
|
|
|
#endif //SOLID3JOHNSON_SIMPLEX_SOLVER_H
|