SimdVector3 PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
{
int i;
SimdVector3 supVec(0,0,0);
SimdScalar maxDot(-1e30f);
SimdVector3 vec = vec0;
SimdScalar lenSqr = vec.length2();
if (lenSqr < 0.0001f)
{
vec.setValue(1,0,0);
} else
{
float rlen = 1.f / SimdSqrt(lenSqr );
vec *= rlen;
}
SimdVector3 vtx;
SimdScalar newDot;
for (i=0;i<GetNumVertices();i++)
{
GetVertex(i,vtx);
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return supVec;
}
SimdVector3 ConvexTriangleMeshShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
{
SimdVector3 supVec(0.f,0.f,0.f);
SimdVector3 vec = vec0;
SimdScalar lenSqr = vec.length2();
if (lenSqr < 0.0001f)
{
vec.setValue(1,0,0);
} else
{
float rlen = 1.f / SimdSqrt(lenSqr );
vec *= rlen;
}
LocalSupportVertexCallback supportCallback(vec);
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
return supVec;
}
