mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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* Adjustment: Initial CMake reworking.
This commit is contained in:
Robert MacGregor
parent
516163fd5d
commit
d7cdf54661
5394 changed files with 2615532 additions and 8711 deletions
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||||
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||||
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||||
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||||
|
||||
|
||||
Engine/lib/bullet/src/Bullet3Geometry/b3GeometryUtil.h:
|
||||
|
||||
Engine/lib/bullet/src/Bullet3Geometry/b3GeometryUtil.cpp:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__memory/addressof.h:
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
Engine/lib/bullet/src/Bullet3Common/b3Logging.h:
|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
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|
||||
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47
Engine/lib/bullet/src/Bullet3Geometry/CMakeLists.txt
Normal file
47
Engine/lib/bullet/src/Bullet3Geometry/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,47 @@
|
|||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
)
|
||||
|
||||
SET(Bullet3Geometry_SRCS
|
||||
b3ConvexHullComputer.cpp
|
||||
b3GeometryUtil.cpp
|
||||
)
|
||||
|
||||
SET(Bullet3Geometry_HDRS
|
||||
b3AabbUtil.h
|
||||
b3ConvexHullComputer.h
|
||||
b3GeometryUtil.h
|
||||
b3GrahamScan2dConvexHull.h
|
||||
)
|
||||
|
||||
ADD_LIBRARY(Bullet3Geometry ${Bullet3Geometry_SRCS} ${Bullet3Geometry_HDRS})
|
||||
if (BUILD_SHARED_LIBS)
|
||||
target_link_libraries(Bullet3Geometry Bullet3Common)
|
||||
endif()
|
||||
SET_TARGET_PROPERTIES(Bullet3Geometry PROPERTIES VERSION ${BULLET_VERSION})
|
||||
SET_TARGET_PROPERTIES(Bullet3Geometry PROPERTIES SOVERSION ${BULLET_VERSION})
|
||||
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||||
IF (INSTALL_LIBS)
|
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS Bullet3Geometry DESTINATION .)
|
||||
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS Bullet3Geometry
|
||||
RUNTIME DESTINATION bin
|
||||
LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
|
||||
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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SET_TARGET_PROPERTIES(Bullet3Geometry PROPERTIES FRAMEWORK true)
|
||||
SET_TARGET_PROPERTIES(Bullet3Geometry PROPERTIES PUBLIC_HEADER "${Bullet3Geometry_HDRS}")
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|
|
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# CMake generated Testfile for
|
||||
# Source directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Geometry
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#
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||||
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|
||||
# testing this directory and lists subdirectories to be tested as well.
|
||||
240
Engine/lib/bullet/src/Bullet3Geometry/Makefile
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240
Engine/lib/bullet/src/Bullet3Geometry/Makefile
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|
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@ -0,0 +1,240 @@
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232
Engine/lib/bullet/src/Bullet3Geometry/b3AabbUtil.h
Normal file
232
Engine/lib/bullet/src/Bullet3Geometry/b3AabbUtil.h
Normal file
|
|
@ -0,0 +1,232 @@
|
|||
/*
|
||||
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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 B3_AABB_UTIL2
|
||||
#define B3_AABB_UTIL2
|
||||
|
||||
#include "Bullet3Common/b3Transform.h"
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "Bullet3Common/b3MinMax.h"
|
||||
|
||||
|
||||
|
||||
B3_FORCE_INLINE void b3AabbExpand (b3Vector3& aabbMin,
|
||||
b3Vector3& aabbMax,
|
||||
const b3Vector3& expansionMin,
|
||||
const b3Vector3& expansionMax)
|
||||
{
|
||||
aabbMin = aabbMin + expansionMin;
|
||||
aabbMax = aabbMax + expansionMax;
|
||||
}
|
||||
|
||||
/// conservative test for overlap between two aabbs
|
||||
B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3 &aabbMin1, const b3Vector3 &aabbMax1,
|
||||
const b3Vector3 &point)
|
||||
{
|
||||
bool overlap = true;
|
||||
overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
|
||||
overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
|
||||
overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
|
||||
return overlap;
|
||||
}
|
||||
|
||||
|
||||
/// conservative test for overlap between two aabbs
|
||||
B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3 &aabbMin1, const b3Vector3 &aabbMax1,
|
||||
const b3Vector3 &aabbMin2, const b3Vector3 &aabbMax2)
|
||||
{
|
||||
bool overlap = true;
|
||||
overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
|
||||
overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
|
||||
overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
|
||||
return overlap;
|
||||
}
|
||||
|
||||
/// conservative test for overlap between triangle and aabb
|
||||
B3_FORCE_INLINE bool b3TestTriangleAgainstAabb2(const b3Vector3 *vertices,
|
||||
const b3Vector3 &aabbMin, const b3Vector3 &aabbMax)
|
||||
{
|
||||
const b3Vector3 &p1 = vertices[0];
|
||||
const b3Vector3 &p2 = vertices[1];
|
||||
const b3Vector3 &p3 = vertices[2];
|
||||
|
||||
if (b3Min(b3Min(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
|
||||
if (b3Max(b3Max(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
|
||||
|
||||
if (b3Min(b3Min(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
|
||||
if (b3Max(b3Max(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
|
||||
|
||||
if (b3Min(b3Min(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
|
||||
if (b3Max(b3Max(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
B3_FORCE_INLINE int b3Outcode(const b3Vector3& p,const b3Vector3& halfExtent)
|
||||
{
|
||||
return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
|
||||
(p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
|
||||
(p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
|
||||
(p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
|
||||
(p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
|
||||
(p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
|
||||
}
|
||||
|
||||
|
||||
|
||||
B3_FORCE_INLINE bool b3RayAabb2(const b3Vector3& rayFrom,
|
||||
const b3Vector3& rayInvDirection,
|
||||
const unsigned int raySign[3],
|
||||
const b3Vector3 bounds[2],
|
||||
b3Scalar& tmin,
|
||||
b3Scalar lambda_min,
|
||||
b3Scalar lambda_max)
|
||||
{
|
||||
b3Scalar tmax, tymin, tymax, tzmin, tzmax;
|
||||
tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
|
||||
tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
|
||||
tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
|
||||
tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
|
||||
|
||||
if ( (tmin > tymax) || (tymin > tmax) )
|
||||
return false;
|
||||
|
||||
if (tymin > tmin)
|
||||
tmin = tymin;
|
||||
|
||||
if (tymax < tmax)
|
||||
tmax = tymax;
|
||||
|
||||
tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
|
||||
tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
|
||||
|
||||
if ( (tmin > tzmax) || (tzmin > tmax) )
|
||||
return false;
|
||||
if (tzmin > tmin)
|
||||
tmin = tzmin;
|
||||
if (tzmax < tmax)
|
||||
tmax = tzmax;
|
||||
return ( (tmin < lambda_max) && (tmax > lambda_min) );
|
||||
}
|
||||
|
||||
B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
|
||||
const b3Vector3& rayTo,
|
||||
const b3Vector3& aabbMin,
|
||||
const b3Vector3& aabbMax,
|
||||
b3Scalar& param, b3Vector3& normal)
|
||||
{
|
||||
b3Vector3 aabbHalfExtent = (aabbMax-aabbMin)* b3Scalar(0.5);
|
||||
b3Vector3 aabbCenter = (aabbMax+aabbMin)* b3Scalar(0.5);
|
||||
b3Vector3 source = rayFrom - aabbCenter;
|
||||
b3Vector3 target = rayTo - aabbCenter;
|
||||
int sourceOutcode = b3Outcode(source,aabbHalfExtent);
|
||||
int targetOutcode = b3Outcode(target,aabbHalfExtent);
|
||||
if ((sourceOutcode & targetOutcode) == 0x0)
|
||||
{
|
||||
b3Scalar lambda_enter = b3Scalar(0.0);
|
||||
b3Scalar lambda_exit = param;
|
||||
b3Vector3 r = target - source;
|
||||
int i;
|
||||
b3Scalar normSign = 1;
|
||||
b3Vector3 hitNormal = b3MakeVector3(0,0,0);
|
||||
int bit=1;
|
||||
|
||||
for (int j=0;j<2;j++)
|
||||
{
|
||||
for (i = 0; i != 3; ++i)
|
||||
{
|
||||
if (sourceOutcode & bit)
|
||||
{
|
||||
b3Scalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
|
||||
if (lambda_enter <= lambda)
|
||||
{
|
||||
lambda_enter = lambda;
|
||||
hitNormal.setValue(0,0,0);
|
||||
hitNormal[i] = normSign;
|
||||
}
|
||||
}
|
||||
else if (targetOutcode & bit)
|
||||
{
|
||||
b3Scalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
|
||||
b3SetMin(lambda_exit, lambda);
|
||||
}
|
||||
bit<<=1;
|
||||
}
|
||||
normSign = b3Scalar(-1.);
|
||||
}
|
||||
if (lambda_enter <= lambda_exit)
|
||||
{
|
||||
param = lambda_enter;
|
||||
normal = hitNormal;
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin,const b3Transform& t,b3Vector3& aabbMinOut,b3Vector3& aabbMaxOut)
|
||||
{
|
||||
b3Vector3 halfExtentsWithMargin = halfExtents+b3MakeVector3(margin,margin,margin);
|
||||
b3Matrix3x3 abs_b = t.getBasis().absolute();
|
||||
b3Vector3 center = t.getOrigin();
|
||||
b3Vector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] );
|
||||
aabbMinOut = center - extent;
|
||||
aabbMaxOut = center + extent;
|
||||
}
|
||||
|
||||
|
||||
B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& localAabbMin,const b3Vector3& localAabbMax, b3Scalar margin,const b3Transform& trans,b3Vector3& aabbMinOut,b3Vector3& aabbMaxOut)
|
||||
{
|
||||
//b3Assert(localAabbMin.getX() <= localAabbMax.getX());
|
||||
//b3Assert(localAabbMin.getY() <= localAabbMax.getY());
|
||||
//b3Assert(localAabbMin.getZ() <= localAabbMax.getZ());
|
||||
b3Vector3 localHalfExtents = b3Scalar(0.5)*(localAabbMax-localAabbMin);
|
||||
localHalfExtents+=b3MakeVector3(margin,margin,margin);
|
||||
|
||||
b3Vector3 localCenter = b3Scalar(0.5)*(localAabbMax+localAabbMin);
|
||||
b3Matrix3x3 abs_b = trans.getBasis().absolute();
|
||||
b3Vector3 center = trans(localCenter);
|
||||
b3Vector3 extent = localHalfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] );
|
||||
aabbMinOut = center-extent;
|
||||
aabbMaxOut = center+extent;
|
||||
}
|
||||
|
||||
#define B3_USE_BANCHLESS 1
|
||||
#ifdef B3_USE_BANCHLESS
|
||||
//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
|
||||
B3_FORCE_INLINE unsigned b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
return static_cast<unsigned int>(b3Select((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
|
||||
& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
|
||||
& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
|
||||
1, 0));
|
||||
}
|
||||
#else
|
||||
B3_FORCE_INLINE bool b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
bool overlap = true;
|
||||
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
|
||||
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
|
||||
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
|
||||
return overlap;
|
||||
}
|
||||
#endif //B3_USE_BANCHLESS
|
||||
|
||||
#endif //B3_AABB_UTIL2
|
||||
|
||||
|
||||
2755
Engine/lib/bullet/src/Bullet3Geometry/b3ConvexHullComputer.cpp
Normal file
2755
Engine/lib/bullet/src/Bullet3Geometry/b3ConvexHullComputer.cpp
Normal file
File diff suppressed because it is too large
Load diff
103
Engine/lib/bullet/src/Bullet3Geometry/b3ConvexHullComputer.h
Normal file
103
Engine/lib/bullet/src/Bullet3Geometry/b3ConvexHullComputer.h
Normal file
|
|
@ -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 B3_CONVEX_HULL_COMPUTER_H
|
||||
#define B3_CONVEX_HULL_COMPUTER_H
|
||||
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.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 b3ConvexHullComputer
|
||||
{
|
||||
private:
|
||||
b3Scalar compute(const void* coords, bool doubleCoords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp);
|
||||
|
||||
public:
|
||||
|
||||
class Edge
|
||||
{
|
||||
private:
|
||||
int next;
|
||||
int reverse;
|
||||
int targetVertex;
|
||||
|
||||
friend class b3ConvexHullComputer;
|
||||
|
||||
public:
|
||||
int getSourceVertex() const
|
||||
{
|
||||
return (this + reverse)->targetVertex;
|
||||
}
|
||||
|
||||
int getTargetVertex() const
|
||||
{
|
||||
return targetVertex;
|
||||
}
|
||||
|
||||
const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex
|
||||
{
|
||||
return this + next;
|
||||
}
|
||||
|
||||
const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face
|
||||
{
|
||||
return (this + reverse)->getNextEdgeOfVertex();
|
||||
}
|
||||
|
||||
const Edge* getReverseEdge() const
|
||||
{
|
||||
return this + reverse;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
// Vertices of the output hull
|
||||
b3AlignedObjectArray<b3Vector3> vertices;
|
||||
|
||||
// Edges of the output hull
|
||||
b3AlignedObjectArray<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
|
||||
b3AlignedObjectArray<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".
|
||||
*/
|
||||
b3Scalar compute(const float* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp)
|
||||
{
|
||||
return compute(coords, false, stride, count, shrink, shrinkClamp);
|
||||
}
|
||||
|
||||
// same as above, but double precision
|
||||
b3Scalar compute(const double* coords, int stride, int count, b3Scalar shrink, b3Scalar shrinkClamp)
|
||||
{
|
||||
return compute(coords, true, stride, count, shrink, shrinkClamp);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
#endif //B3_CONVEX_HULL_COMPUTER_H
|
||||
|
||||
185
Engine/lib/bullet/src/Bullet3Geometry/b3GeometryUtil.cpp
Normal file
185
Engine/lib/bullet/src/Bullet3Geometry/b3GeometryUtil.cpp
Normal file
|
|
@ -0,0 +1,185 @@
|
|||
/*
|
||||
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include "b3GeometryUtil.h"
|
||||
|
||||
|
||||
/*
|
||||
Make sure this dummy function never changes so that it
|
||||
can be used by probes that are checking whether the
|
||||
library is actually installed.
|
||||
*/
|
||||
extern "C"
|
||||
{
|
||||
void b3BulletMathProbe ();
|
||||
|
||||
void b3BulletMathProbe () {}
|
||||
}
|
||||
|
||||
|
||||
bool b3GeometryUtil::isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar margin)
|
||||
{
|
||||
int numbrushes = planeEquations.size();
|
||||
for (int i=0;i<numbrushes;i++)
|
||||
{
|
||||
const b3Vector3& N1 = planeEquations[i];
|
||||
b3Scalar dist = b3Scalar(N1.dot(point))+b3Scalar(N1[3])-margin;
|
||||
if (dist>b3Scalar(0.))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
|
||||
bool b3GeometryUtil::areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin)
|
||||
{
|
||||
int numvertices = vertices.size();
|
||||
for (int i=0;i<numvertices;i++)
|
||||
{
|
||||
const b3Vector3& N1 = vertices[i];
|
||||
b3Scalar dist = b3Scalar(planeNormal.dot(N1))+b3Scalar(planeNormal[3])-margin;
|
||||
if (dist>b3Scalar(0.))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool notExist(const b3Vector3& planeEquation,const b3AlignedObjectArray<b3Vector3>& planeEquations);
|
||||
|
||||
bool notExist(const b3Vector3& planeEquation,const b3AlignedObjectArray<b3Vector3>& planeEquations)
|
||||
{
|
||||
int numbrushes = planeEquations.size();
|
||||
for (int i=0;i<numbrushes;i++)
|
||||
{
|
||||
const b3Vector3& N1 = planeEquations[i];
|
||||
if (planeEquation.dot(N1) > b3Scalar(0.999))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void b3GeometryUtil::getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut )
|
||||
{
|
||||
const int numvertices = vertices.size();
|
||||
// brute force:
|
||||
for (int i=0;i<numvertices;i++)
|
||||
{
|
||||
const b3Vector3& N1 = vertices[i];
|
||||
|
||||
|
||||
for (int j=i+1;j<numvertices;j++)
|
||||
{
|
||||
const b3Vector3& N2 = vertices[j];
|
||||
|
||||
for (int k=j+1;k<numvertices;k++)
|
||||
{
|
||||
|
||||
const b3Vector3& N3 = vertices[k];
|
||||
|
||||
b3Vector3 planeEquation,edge0,edge1;
|
||||
edge0 = N2-N1;
|
||||
edge1 = N3-N1;
|
||||
b3Scalar normalSign = b3Scalar(1.);
|
||||
for (int ww=0;ww<2;ww++)
|
||||
{
|
||||
planeEquation = normalSign * edge0.cross(edge1);
|
||||
if (planeEquation.length2() > b3Scalar(0.0001))
|
||||
{
|
||||
planeEquation.normalize();
|
||||
if (notExist(planeEquation,planeEquationsOut))
|
||||
{
|
||||
planeEquation[3] = -planeEquation.dot(N1);
|
||||
|
||||
//check if inside, and replace supportingVertexOut if needed
|
||||
if (areVerticesBehindPlane(planeEquation,vertices,b3Scalar(0.01)))
|
||||
{
|
||||
planeEquationsOut.push_back(planeEquation);
|
||||
}
|
||||
}
|
||||
}
|
||||
normalSign = b3Scalar(-1.);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void b3GeometryUtil::getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations , b3AlignedObjectArray<b3Vector3>& verticesOut )
|
||||
{
|
||||
const int numbrushes = planeEquations.size();
|
||||
// brute force:
|
||||
for (int i=0;i<numbrushes;i++)
|
||||
{
|
||||
const b3Vector3& N1 = planeEquations[i];
|
||||
|
||||
|
||||
for (int j=i+1;j<numbrushes;j++)
|
||||
{
|
||||
const b3Vector3& N2 = planeEquations[j];
|
||||
|
||||
for (int k=j+1;k<numbrushes;k++)
|
||||
{
|
||||
|
||||
const b3Vector3& N3 = planeEquations[k];
|
||||
|
||||
b3Vector3 n2n3; n2n3 = N2.cross(N3);
|
||||
b3Vector3 n3n1; n3n1 = N3.cross(N1);
|
||||
b3Vector3 n1n2; n1n2 = N1.cross(N2);
|
||||
|
||||
if ( ( n2n3.length2() > b3Scalar(0.0001) ) &&
|
||||
( n3n1.length2() > b3Scalar(0.0001) ) &&
|
||||
( n1n2.length2() > b3Scalar(0.0001) ) )
|
||||
{
|
||||
//point P out of 3 plane equations:
|
||||
|
||||
// d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )
|
||||
//P = -------------------------------------------------------------------------
|
||||
// N1 . ( N2 * N3 )
|
||||
|
||||
|
||||
b3Scalar quotient = (N1.dot(n2n3));
|
||||
if (b3Fabs(quotient) > b3Scalar(0.000001))
|
||||
{
|
||||
quotient = b3Scalar(-1.) / quotient;
|
||||
n2n3 *= N1[3];
|
||||
n3n1 *= N2[3];
|
||||
n1n2 *= N3[3];
|
||||
b3Vector3 potentialVertex = n2n3;
|
||||
potentialVertex += n3n1;
|
||||
potentialVertex += n1n2;
|
||||
potentialVertex *= quotient;
|
||||
|
||||
//check if inside, and replace supportingVertexOut if needed
|
||||
if (isPointInsidePlanes(planeEquations,potentialVertex,b3Scalar(0.01)))
|
||||
{
|
||||
verticesOut.push_back(potentialVertex);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
42
Engine/lib/bullet/src/Bullet3Geometry/b3GeometryUtil.h
Normal file
42
Engine/lib/bullet/src/Bullet3Geometry/b3GeometryUtil.h
Normal file
|
|
@ -0,0 +1,42 @@
|
|||
/*
|
||||
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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 B3_GEOMETRY_UTIL_H
|
||||
#define B3_GEOMETRY_UTIL_H
|
||||
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
|
||||
///The b3GeometryUtil helper class provides a few methods to convert between plane equations and vertices.
|
||||
class b3GeometryUtil
|
||||
{
|
||||
public:
|
||||
|
||||
|
||||
static void getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut );
|
||||
|
||||
static void getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations , b3AlignedObjectArray<b3Vector3>& verticesOut );
|
||||
|
||||
static bool isInside(const b3AlignedObjectArray<b3Vector3>& vertices, const b3Vector3& planeNormal, b3Scalar margin);
|
||||
|
||||
static bool isPointInsidePlanes(const b3AlignedObjectArray<b3Vector3>& planeEquations, const b3Vector3& point, b3Scalar margin);
|
||||
|
||||
static bool areVerticesBehindPlane(const b3Vector3& planeNormal, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar margin);
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //B3_GEOMETRY_UTIL_H
|
||||
|
||||
117
Engine/lib/bullet/src/Bullet3Geometry/b3GrahamScan2dConvexHull.h
Normal file
117
Engine/lib/bullet/src/Bullet3Geometry/b3GrahamScan2dConvexHull.h
Normal file
|
|
@ -0,0 +1,117 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
|
||||
|
||||
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 B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
|
||||
#define B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
|
||||
|
||||
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
|
||||
struct b3GrahamVector3 : public b3Vector3
|
||||
{
|
||||
b3GrahamVector3(const b3Vector3& org, int orgIndex)
|
||||
:b3Vector3(org),
|
||||
m_orgIndex(orgIndex)
|
||||
{
|
||||
}
|
||||
b3Scalar m_angle;
|
||||
int m_orgIndex;
|
||||
};
|
||||
|
||||
|
||||
struct b3AngleCompareFunc {
|
||||
b3Vector3 m_anchor;
|
||||
b3AngleCompareFunc(const b3Vector3& anchor)
|
||||
: m_anchor(anchor)
|
||||
{
|
||||
}
|
||||
bool operator()(const b3GrahamVector3& a, const b3GrahamVector3& b) const {
|
||||
if (a.m_angle != b.m_angle)
|
||||
return a.m_angle < b.m_angle;
|
||||
else
|
||||
{
|
||||
b3Scalar al = (a-m_anchor).length2();
|
||||
b3Scalar bl = (b-m_anchor).length2();
|
||||
if (al != bl)
|
||||
return al < bl;
|
||||
else
|
||||
{
|
||||
return a.m_orgIndex < b.m_orgIndex;
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
inline void b3GrahamScanConvexHull2D(b3AlignedObjectArray<b3GrahamVector3>& originalPoints, b3AlignedObjectArray<b3GrahamVector3>& hull, const b3Vector3& normalAxis)
|
||||
{
|
||||
b3Vector3 axis0,axis1;
|
||||
b3PlaneSpace1(normalAxis,axis0,axis1);
|
||||
|
||||
|
||||
if (originalPoints.size()<=1)
|
||||
{
|
||||
for (int i=0;i<originalPoints.size();i++)
|
||||
hull.push_back(originalPoints[0]);
|
||||
return;
|
||||
}
|
||||
//step1 : find anchor point with smallest projection on axis0 and move it to first location
|
||||
for (int i=0;i<originalPoints.size();i++)
|
||||
{
|
||||
// const b3Vector3& left = originalPoints[i];
|
||||
// const b3Vector3& right = originalPoints[0];
|
||||
b3Scalar projL = originalPoints[i].dot(axis0);
|
||||
b3Scalar projR = originalPoints[0].dot(axis0);
|
||||
if (projL < projR)
|
||||
{
|
||||
originalPoints.swap(0,i);
|
||||
}
|
||||
}
|
||||
|
||||
//also precompute angles
|
||||
originalPoints[0].m_angle = -1e30f;
|
||||
for (int i=1;i<originalPoints.size();i++)
|
||||
{
|
||||
b3Vector3 xvec = axis0;
|
||||
b3Vector3 ar = originalPoints[i]-originalPoints[0];
|
||||
originalPoints[i].m_angle = b3Cross(xvec, ar).dot(normalAxis) / ar.length();
|
||||
}
|
||||
|
||||
//step 2: sort all points, based on 'angle' with this anchor
|
||||
b3AngleCompareFunc comp(originalPoints[0]);
|
||||
originalPoints.quickSortInternal(comp,1,originalPoints.size()-1);
|
||||
|
||||
int i;
|
||||
for (i = 0; i<2; i++)
|
||||
hull.push_back(originalPoints[i]);
|
||||
|
||||
//step 3: keep all 'convex' points and discard concave points (using back tracking)
|
||||
for (; i != originalPoints.size(); i++)
|
||||
{
|
||||
bool isConvex = false;
|
||||
while (!isConvex&& hull.size()>1) {
|
||||
b3Vector3& a = hull[hull.size()-2];
|
||||
b3Vector3& b = hull[hull.size()-1];
|
||||
isConvex = b3Cross(a-b,a-originalPoints[i]).dot(normalAxis)> 0;
|
||||
if (!isConvex)
|
||||
hull.pop_back();
|
||||
else
|
||||
hull.push_back(originalPoints[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif //B3_GRAHAM_SCAN_2D_CONVEX_HULL_H
|
||||
69
Engine/lib/bullet/src/Bullet3Geometry/cmake_install.cmake
Normal file
69
Engine/lib/bullet/src/Bullet3Geometry/cmake_install.cmake
Normal file
|
|
@ -0,0 +1,69 @@
|
|||
# Install script for directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Geometry
|
||||
|
||||
# Set the install prefix
|
||||
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
|
||||
set(CMAKE_INSTALL_PREFIX "/Users/ragora/Documents/Test")
|
||||
endif()
|
||||
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
|
||||
|
||||
# Set the install configuration name.
|
||||
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
|
||||
if(BUILD_TYPE)
|
||||
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
|
||||
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_CONFIG_NAME "Release")
|
||||
endif()
|
||||
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||
endif()
|
||||
|
||||
# Set the component getting installed.
|
||||
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||
if(COMPONENT)
|
||||
message(STATUS "Install component: \"${COMPONENT}\"")
|
||||
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_COMPONENT)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Is this installation the result of a crosscompile?
|
||||
if(NOT DEFINED CMAKE_CROSSCOMPILING)
|
||||
set(CMAKE_CROSSCOMPILING "FALSE")
|
||||
endif()
|
||||
|
||||
# Set default install directory permissions.
|
||||
if(NOT DEFINED CMAKE_OBJDUMP)
|
||||
set(CMAKE_OBJDUMP "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/objdump")
|
||||
endif()
|
||||
|
||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Geometry/libBullet3Geometry.2.85.dylib")
|
||||
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBullet3Geometry.2.85.dylib" AND
|
||||
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBullet3Geometry.2.85.dylib")
|
||||
execute_process(COMMAND /usr/bin/install_name_tool
|
||||
-delete_rpath "/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common"
|
||||
"$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBullet3Geometry.2.85.dylib")
|
||||
if(CMAKE_INSTALL_DO_STRIP)
|
||||
execute_process(COMMAND "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/strip" -x "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBullet3Geometry.2.85.dylib")
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Geometry/libBullet3Geometry.dylib")
|
||||
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBullet3Geometry.dylib" AND
|
||||
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBullet3Geometry.dylib")
|
||||
execute_process(COMMAND /usr/bin/install_name_tool
|
||||
-delete_rpath "/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common"
|
||||
"$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBullet3Geometry.dylib")
|
||||
if(CMAKE_INSTALL_DO_STRIP)
|
||||
execute_process(COMMAND "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/strip" -x "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libBullet3Geometry.dylib")
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/bullet" TYPE DIRECTORY FILES "/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Geometry" FILES_MATCHING REGEX "/[^/]*\\.h$" REGEX "/\\.svn$" EXCLUDE REGEX "/cmakefiles$" EXCLUDE)
|
||||
endif()
|
||||
|
||||
BIN
Engine/lib/bullet/src/Bullet3Geometry/libBullet3Geometry.2.85.dylib
Executable file
BIN
Engine/lib/bullet/src/Bullet3Geometry/libBullet3Geometry.2.85.dylib
Executable file
Binary file not shown.
1
Engine/lib/bullet/src/Bullet3Geometry/libBullet3Geometry.dylib
Symbolic link
1
Engine/lib/bullet/src/Bullet3Geometry/libBullet3Geometry.dylib
Symbolic link
|
|
@ -0,0 +1 @@
|
|||
libBullet3Geometry.2.85.dylib
|
||||
13
Engine/lib/bullet/src/Bullet3Geometry/premake4.lua
Normal file
13
Engine/lib/bullet/src/Bullet3Geometry/premake4.lua
Normal file
|
|
@ -0,0 +1,13 @@
|
|||
project "Bullet3Geometry"
|
||||
|
||||
language "C++"
|
||||
|
||||
kind "StaticLib"
|
||||
|
||||
includedirs {".."}
|
||||
|
||||
|
||||
files {
|
||||
"**.cpp",
|
||||
"**.h"
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue