libbullet-dev/html/btShapeHull_8cpp_source.html

/*

Bullet Continuous Collision Detection and Physics Library

Copyright (c) 2003-2009 Erwin Coumans  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.

*/


//btShapeHull was implemented by John McCutchan.


#include "btShapeHull.h"

#include "LinearMath/btConvexHull.h"


#define NUM_UNITSPHERE_POINTS 42

#define NUM_UNITSPHERE_POINTS_HIGHRES 256


btShapeHull::btShapeHull(const btConvexShape* shape)

{

        m_shape = shape;

        m_vertices.clear();

        m_indices.clear();

        m_numIndices = 0;

}


btShapeHull::~btShapeHull()

{

        m_indices.clear();

        m_vertices.clear();

}


bool btShapeHull::buildHull(btScalar /*margin*/, int highres)

{


        int numSampleDirections = highres ? NUM_UNITSPHERE_POINTS_HIGHRES : NUM_UNITSPHERE_POINTS;

        btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];

        int i;

        for (i = 0; i < numSampleDirections; i++)

        {

                supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);

        }


        int numPDA = m_shape->getNumPreferredPenetrationDirections();

        if (numPDA)

        {

                for (int s = 0; s < numPDA; s++)

                {

                        btVector3 norm;

                        m_shape->getPreferredPenetrationDirection(s, norm);

                        supportPoints[i++] = m_shape->localGetSupportingVertex(norm);

                        numSampleDirections++;

                }

        }

        HullDesc hd;

        hd.mFlags = QF_TRIANGLES;

        hd.mVcount = static_cast<unsigned int>(numSampleDirections);


#ifdef BT_USE_DOUBLE_PRECISION

        hd.mVertices = &supportPoints[0];

        hd.mVertexStride = sizeof(btVector3);

#else

        hd.mVertices = &supportPoints[0];

        hd.mVertexStride = sizeof(btVector3);

#endif


        HullLibrary hl;

        HullResult hr;

        if (hl.CreateConvexHull(hd, hr) == QE_FAIL)

        {

                return false;

        }


        m_vertices.resize(static_cast<int>(hr.mNumOutputVertices));


        for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)

        {

                m_vertices[i] = hr.m_OutputVertices[i];

        }

        m_numIndices = hr.mNumIndices;

        m_indices.resize(static_cast<int>(m_numIndices));

        for (i = 0; i < static_cast<int>(m_numIndices); i++)

        {

                m_indices[i] = hr.m_Indices[i];

        }


        // free temporary hull result that we just copied

        hl.ReleaseResult(hr);


        return true;

}


int btShapeHull::numTriangles() const

{

        return static_cast<int>(m_numIndices / 3);

}


int btShapeHull::numVertices() const

{

        return m_vertices.size();

}


int btShapeHull::numIndices() const

{

        return static_cast<int>(m_numIndices);

}


btVector3* btShapeHull::getUnitSpherePoints(int highres)

{

        static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =

                {

                        btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),

                        btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),

                        btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),

                        btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),

                        btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),

                        btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),

                        btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),

                        btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),

                        btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),

                        btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),

                        btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),

                        btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),

                        btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),

                        btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),

                        btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),

                        btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),

                        btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),

                        btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),

                        btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),

                        btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),

                        btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),

                        btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),

                        btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),

                        btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),

                        btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),

                        btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),

                        btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),

                        btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),

                        btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),

                        btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),

                        btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),

                        btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),

                        btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),

                        btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),

                        btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),

                        btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),

                        btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),

                        btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),

                        btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),

                        btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),

                        btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),

                        btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),

                        btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),

                        btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),

                        btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),

                        btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),

                        btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),

                        btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),

                        btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),

                        btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),

                        btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),

                        btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),

                        btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),

                        btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),

                        btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),

                        btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),

                        btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),

                        btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),

                        btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),

                        btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),

                        btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),

                        btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),

                        btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),

                        btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),

                        btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),

                        btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),

                        btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),

                        btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),

                        btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),

                        btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),

                        btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),

                        btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),

                        btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),

                        btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),

                        btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),

                        btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),

                        btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),

                        btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),

                        btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),

                        btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),

                        btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),

                        btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),

                        btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),

                        btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),

                        btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),

                        btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),

                        btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),

                        btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),

                        btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),

                        btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),

                        btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),

                        btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),

                        btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),

                        btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),

                        btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),

                        btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),

                        btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),

                        btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),

                        btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),

                        btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),

                        btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),

                        btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),

                        btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),

                        btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),

                        btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),

                        btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),

                        btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),

                        btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),

                        btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),

                        btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),

                        btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),

                        btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),

                        btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),

                        btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),

                        btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),

                        btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),

                        btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),

                        btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),

                        btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),

                        btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),

                        btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),

                        btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),

                        btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),

                        btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),

                        btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),

                        btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),

                        btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),

                        btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),

                        btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),

                        btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),

                        btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),

                        btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),

                        btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),

                        btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),

                        btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),

                        btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),

                        btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),

                        btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),

                        btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),

                        btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),

                        btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),

                        btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),

                        btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),

                        btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),

                        btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),

                        btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),

                        btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),

                        btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),

                        btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),

                        btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),

                        btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),

                        btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),

                        btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),

                        btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),

                        btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),

                        btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),

                        btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),

                        btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),

                        btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),

                        btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),

                        btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),

                        btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),

                        btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),

                        btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),

                        btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),

                        btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),

                        btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),

                        btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),

                        btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),

                        btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),

                        btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),

                        btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),

                        btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),

                        btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),

                        btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),

                        btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),

                        btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),

                        btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),

                        btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),

                        btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),

                        btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),

                        btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),

                        btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),

                        btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),

                        btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),

                        btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),

                        btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),

                        btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),

                        btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),

                        btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),

                        btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),

                        btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),

                        btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),

                        btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),

                        btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),

                        btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),

                        btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),

                        btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),

                        btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),

                        btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),

                        btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),

                        btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),

                        btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),

                        btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),

                        btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),

                        btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),

                        btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),

                        btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),

                        btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),

                        btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),

                        btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),

                        btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),

                        btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),

                        btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),

                        btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),

                        btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),

                        btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),

                        btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),

                        btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),

                        btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),

                        btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),

                        btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),

                        btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),

                        btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),

                        btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),

                        btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),

                        btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),

                        btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),

                        btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),

                        btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),

                        btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),

                        btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),

                        btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),

                        btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),

                        btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),

                        btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),

                        btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),

                        btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),

                        btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),

                        btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),

                        btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),

                        btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),

                        btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),

                        btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),

                        btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),

                        btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),

                        btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),

                        btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),

                        btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),

                        btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),

                        btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),

                        btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),

                        btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),

                        btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),

                        btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),

                        btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),

                };

        static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =

                {

                        btVector3(btScalar(0.000000), btScalar(-0.000000), btScalar(-1.000000)),

                        btVector3(btScalar(0.723608), btScalar(-0.525725), btScalar(-0.447219)),

                        btVector3(btScalar(-0.276388), btScalar(-0.850649), btScalar(-0.447219)),

                        btVector3(btScalar(-0.894426), btScalar(-0.000000), btScalar(-0.447216)),

                        btVector3(btScalar(-0.276388), btScalar(0.850649), btScalar(-0.447220)),

                        btVector3(btScalar(0.723608), btScalar(0.525725), btScalar(-0.447219)),

                        btVector3(btScalar(0.276388), btScalar(-0.850649), btScalar(0.447220)),

                        btVector3(btScalar(-0.723608), btScalar(-0.525725), btScalar(0.447219)),

                        btVector3(btScalar(-0.723608), btScalar(0.525725), btScalar(0.447219)),

                        btVector3(btScalar(0.276388), btScalar(0.850649), btScalar(0.447219)),

                        btVector3(btScalar(0.894426), btScalar(0.000000), btScalar(0.447216)),

                        btVector3(btScalar(-0.000000), btScalar(0.000000), btScalar(1.000000)),

                        btVector3(btScalar(0.425323), btScalar(-0.309011), btScalar(-0.850654)),

                        btVector3(btScalar(-0.162456), btScalar(-0.499995), btScalar(-0.850654)),

                        btVector3(btScalar(0.262869), btScalar(-0.809012), btScalar(-0.525738)),

                        btVector3(btScalar(0.425323), btScalar(0.309011), btScalar(-0.850654)),

                        btVector3(btScalar(0.850648), btScalar(-0.000000), btScalar(-0.525736)),

                        btVector3(btScalar(-0.525730), btScalar(-0.000000), btScalar(-0.850652)),

                        btVector3(btScalar(-0.688190), btScalar(-0.499997), btScalar(-0.525736)),

                        btVector3(btScalar(-0.162456), btScalar(0.499995), btScalar(-0.850654)),

                        btVector3(btScalar(-0.688190), btScalar(0.499997), btScalar(-0.525736)),

                        btVector3(btScalar(0.262869), btScalar(0.809012), btScalar(-0.525738)),

                        btVector3(btScalar(0.951058), btScalar(0.309013), btScalar(0.000000)),

                        btVector3(btScalar(0.951058), btScalar(-0.309013), btScalar(0.000000)),

                        btVector3(btScalar(0.587786), btScalar(-0.809017), btScalar(0.000000)),

                        btVector3(btScalar(0.000000), btScalar(-1.000000), btScalar(0.000000)),

                        btVector3(btScalar(-0.587786), btScalar(-0.809017), btScalar(0.000000)),

                        btVector3(btScalar(-0.951058), btScalar(-0.309013), btScalar(-0.000000)),

                        btVector3(btScalar(-0.951058), btScalar(0.309013), btScalar(-0.000000)),

                        btVector3(btScalar(-0.587786), btScalar(0.809017), btScalar(-0.000000)),

                        btVector3(btScalar(-0.000000), btScalar(1.000000), btScalar(-0.000000)),

                        btVector3(btScalar(0.587786), btScalar(0.809017), btScalar(-0.000000)),

                        btVector3(btScalar(0.688190), btScalar(-0.499997), btScalar(0.525736)),

                        btVector3(btScalar(-0.262869), btScalar(-0.809012), btScalar(0.525738)),

                        btVector3(btScalar(-0.850648), btScalar(0.000000), btScalar(0.525736)),

                        btVector3(btScalar(-0.262869), btScalar(0.809012), btScalar(0.525738)),

                        btVector3(btScalar(0.688190), btScalar(0.499997), btScalar(0.525736)),

                        btVector3(btScalar(0.525730), btScalar(0.000000), btScalar(0.850652)),

                        btVector3(btScalar(0.162456), btScalar(-0.499995), btScalar(0.850654)),

                        btVector3(btScalar(-0.425323), btScalar(-0.309011), btScalar(0.850654)),

                        btVector3(btScalar(-0.425323), btScalar(0.309011), btScalar(0.850654)),

                        btVector3(btScalar(0.162456), btScalar(0.499995), btScalar(0.850654))};

        if (highres)

                return sUnitSpherePointsHighres;

        return sUnitSpherePoints;

}

btConvexHull.h

QE_FAIL
@ QE_FAIL
Definition btConvexHull.h:110

QF_TRIANGLES
@ QF_TRIANGLES
Definition btConvexHull.h:50

MAX_PREFERRED_PENETRATION_DIRECTIONS
#define MAX_PREFERRED_PENETRATION_DIRECTIONS
Definition btConvexShape.h:27

btMax
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27

btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314

NUM_UNITSPHERE_POINTS_HIGHRES
#define NUM_UNITSPHERE_POINTS_HIGHRES
Definition btShapeHull.cpp:22

NUM_UNITSPHERE_POINTS
#define NUM_UNITSPHERE_POINTS
Definition btShapeHull.cpp:21

btShapeHull.h

HullDesc
Definition btConvexHull.h:56

HullDesc::mFlags
unsigned int mFlags
Definition btConvexHull.h:98

HullLibrary
The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull m...
Definition btConvexHull.h:183

HullResult
Definition btConvexHull.h:28

btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition btAlignedObjectArray.h:142

btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition btAlignedObjectArray.h:203

btAlignedObjectArray::clear
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
Definition btAlignedObjectArray.h:176

btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition btConvexShape.h:33

btConvexShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0

btConvexShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const =0

btConvexShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0

btShapeHull::btShapeHull
btShapeHull(const btConvexShape *shape)
Definition btShapeHull.cpp:24

btShapeHull::numIndices
int numIndices() const
Definition btShapeHull.cpp:108

btShapeHull::m_vertices
btAlignedObjectArray< btVector3 > m_vertices
Definition btShapeHull.h:31

btShapeHull::getUnitSpherePoints
static btVector3 * getUnitSpherePoints(int highres=0)
Definition btShapeHull.cpp:113

btShapeHull::m_numIndices
unsigned int m_numIndices
Definition btShapeHull.h:33

btShapeHull::m_indices
btAlignedObjectArray< unsigned int > m_indices
Definition btShapeHull.h:32

btShapeHull::numTriangles
int numTriangles() const
Definition btShapeHull.cpp:98

btShapeHull::~btShapeHull
~btShapeHull()
Definition btShapeHull.cpp:32

btShapeHull::m_shape
const btConvexShape * m_shape
Definition btShapeHull.h:34

btShapeHull::buildHull
bool buildHull(btScalar margin, int highres=0)
Definition btShapeHull.cpp:38

btShapeHull::numVertices
int numVertices() const
Definition btShapeHull.cpp:103

btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82