Fix [#23569] Convex hull bounds crash Blender
[blender.git] / extern / bullet2 / src / BulletCollision / CollisionShapes / btConvexHullShape.cpp
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose, 
8 including commercial applications, and to alter it and redistribute it freely, 
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 #include "btConvexHullShape.h"
16 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
17
18 #include "LinearMath/btQuaternion.h"
19
20
21
22 btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
23 {
24         m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
25         m_unscaledPoints.resize(numPoints);
26
27         unsigned char* pointsAddress = (unsigned char*)points;
28
29         for (int i=0;i<numPoints;i++)
30         {
31                 btScalar* point = (btScalar*)pointsAddress;
32                 m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]);
33                 pointsAddress += stride;
34         }
35
36         recalcLocalAabb();
37
38 }
39
40
41
42 void btConvexHullShape::setLocalScaling(const btVector3& scaling)
43 {
44         m_localScaling = scaling;
45         recalcLocalAabb();
46 }
47
48 void btConvexHullShape::addPoint(const btVector3& point)
49 {
50         m_unscaledPoints.push_back(point);
51         recalcLocalAabb();
52
53 }
54
55 btVector3       btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
56 {
57         btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
58         btScalar newDot,maxDot = btScalar(-1e30);
59
60         btVector3 vec = vec0;
61         btScalar lenSqr = vec.length2();
62         if (lenSqr < btScalar(0.0001))
63         {
64                 vec.setValue(1,0,0);
65         } else
66         {
67                 btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
68                 vec *= rlen;
69         }
70
71
72         for (int i=0;i<m_unscaledPoints.size();i++)
73         {
74                 btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
75
76                 newDot = vec.dot(vtx);
77                 if (newDot > maxDot)
78                 {
79                         maxDot = newDot;
80                         supVec = vtx;
81                 }
82         }
83         return supVec;
84 }
85
86 void    btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
87 {
88         btScalar newDot;
89         //use 'w' component of supportVerticesOut?
90         {
91                 for (int i=0;i<numVectors;i++)
92                 {
93                         supportVerticesOut[i][3] = btScalar(-1e30);
94                 }
95         }
96         for (int i=0;i<m_unscaledPoints.size();i++)
97         {
98                 btVector3 vtx = getScaledPoint(i);
99
100                 for (int j=0;j<numVectors;j++)
101                 {
102                         const btVector3& vec = vectors[j];
103                         
104                         newDot = vec.dot(vtx);
105                         if (newDot > supportVerticesOut[j][3])
106                         {
107                                 //WARNING: don't swap next lines, the w component would get overwritten!
108                                 supportVerticesOut[j] = vtx;
109                                 supportVerticesOut[j][3] = newDot;
110                         }
111                 }
112         }
113
114
115
116 }
117         
118
119
120 btVector3       btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
121 {
122         btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
123
124         if ( getMargin()!=btScalar(0.) )
125         {
126                 btVector3 vecnorm = vec;
127                 if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
128                 {
129                         vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
130                 } 
131                 vecnorm.normalize();
132                 supVertex+= getMargin() * vecnorm;
133         }
134         return supVertex;
135 }
136
137
138
139
140
141
142
143
144
145 //currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
146 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
147 int     btConvexHullShape::getNumVertices() const
148 {
149         return m_unscaledPoints.size();
150 }
151
152 int btConvexHullShape::getNumEdges() const
153 {
154         return m_unscaledPoints.size();
155 }
156
157 void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
158 {
159
160         int index0 = i%m_unscaledPoints.size();
161         int index1 = (i+1)%m_unscaledPoints.size();
162         pa = getScaledPoint(index0);
163         pb = getScaledPoint(index1);
164 }
165
166 void btConvexHullShape::getVertex(int i,btVector3& vtx) const
167 {
168         vtx = getScaledPoint(i);
169 }
170
171 int     btConvexHullShape::getNumPlanes() const
172 {
173         return 0;
174 }
175
176 void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
177 {
178
179         btAssert(0);
180 }
181
182 //not yet
183 bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
184 {
185         btAssert(0);
186         return false;
187 }
188