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

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::mVcount
unsigned int mVcount
Definition: btConvexHull.h:99

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

HullDesc::mVertices
const btVector3 * mVertices
Definition: btConvexHull.h:100

HullDesc::mVertexStride
unsigned int mVertexStride
Definition: btConvexHull.h:101

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

HullLibrary::ReleaseResult
HullError ReleaseResult(HullResult &result)
Definition: btConvexHull.cpp:787

HullLibrary::CreateConvexHull
HullError CreateConvexHull(const HullDesc &desc, HullResult &result)
Definition: btConvexHull.cpp:670

HullResult
Definition: btConvexHull.h:28

HullResult::m_OutputVertices
btAlignedObjectArray< btVector3 > m_OutputVertices
Definition: btConvexHull.h:39

HullResult::m_Indices
btAlignedObjectArray< unsigned int > m_Indices
Definition: btConvexHull.h:42

HullResult::mNumOutputVertices
unsigned int mNumOutputVertices
Definition: btConvexHull.h:38

HullResult::mNumIndices
unsigned int mNumIndices
Definition: btConvexHull.h:41

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