btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supportVertex;
btTransform ident;
ident.setIdentity();
SupportVertexCallback supportCallback(vec,ident);
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
processAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVertex = supportCallback.GetSupportVertexLocal();
return supportVertex;
}
void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
//use 'w' component of supportVerticesOut?
{
for (int i = 0; i < numVectors; i++)
{
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
///@todo: could do the batch inside the callback!
for (int j = 0; j < numVectors; j++)
{
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
}
btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
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;
}
void ConvexTriangleMeshShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
{
//use 'w' component of supportVerticesOut?
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = -1e30f;
}
}
//todo: could do the batch inside the callback!
for (int j=0;j<numVectors;j++)
{
const SimdVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
}
