/*! \brief Populates the edges set, should be called only once whenever
the polygon array gets updated */
void dxConvex::FillEdges()
{
unsigned int *points_in_poly=polygons;
unsigned int *index=polygons+1;
for(unsigned int i=0;i<planecount;++i)
{
//fprintf(stdout,"Points in Poly: %d\n",*points_in_poly);
for(int j=0;j<*points_in_poly;++j)
{
edges.insert(edge(dMIN(index[j],index[(j+1)%*points_in_poly]),
dMAX(index[j],index[(j+1)%*points_in_poly])));
//fprintf(stdout,"Insert %d-%d\n",index[j],index[(j+1)%*points_in_poly]);
}
points_in_poly+=(*points_in_poly+1);
index=points_in_poly+1;
}
/*
fprintf(stdout,"Edge Count: %d\n",edges.size());
for(std::set<edge>::iterator it=edges.begin();
it!=edges.end();
++it)
{
fprintf(stdout,"Edge: %d-%d\n",it->first,it->second);
}
*/
}
void dxCylinder::computeAABB()
{
const dMatrix3& R = final_posr->R;
const dVector3& pos = final_posr->pos;
dReal dOneMinusR2Square = (dReal)(REAL(1.0) - R[2]*R[2]);
dReal xrange = dFabs(R[2]*lz*REAL(0.5)) + radius * dSqrt(dMAX(REAL(0.0), dOneMinusR2Square));
dReal dOneMinusR6Square = (dReal)(REAL(1.0) - R[6]*R[6]);
dReal yrange = dFabs(R[6]*lz*REAL(0.5)) + radius * dSqrt(dMAX(REAL(0.0), dOneMinusR6Square));
dReal dOneMinusR10Square = (dReal)(REAL(1.0) - R[10]*R[10]);
dReal zrange = dFabs(R[10]*lz*REAL(0.5)) + radius * dSqrt(dMAX(REAL(0.0), dOneMinusR10Square));
aabb[0] = pos[0] - xrange;
aabb[1] = pos[0] + xrange;
aabb[2] = pos[1] - yrange;
aabb[3] = pos[1] + yrange;
aabb[4] = pos[2] - zrange;
aabb[5] = pos[2] + zrange;
}
void dxConvex::computeAABB()
{
// this can, and should be optimized
dVector3 point;
dMULTIPLY0_331 (point,final_posr->R,points);
aabb[0] = point[0]+final_posr->pos[0];
aabb[1] = point[0]+final_posr->pos[0];
aabb[2] = point[1]+final_posr->pos[1];
aabb[3] = point[1]+final_posr->pos[1];
aabb[4] = point[2]+final_posr->pos[2];
aabb[5] = point[2]+final_posr->pos[2];
for(unsigned int i=3;i<(pointcount*3);i+=3)
{
dMULTIPLY0_331 (point,final_posr->R,&points[i]);
aabb[0] = dMIN(aabb[0],point[0]+final_posr->pos[0]);
aabb[1] = dMAX(aabb[1],point[0]+final_posr->pos[0]);
aabb[2] = dMIN(aabb[2],point[1]+final_posr->pos[1]);
aabb[3] = dMAX(aabb[3],point[1]+final_posr->pos[1]);
aabb[4] = dMIN(aabb[4],point[2]+final_posr->pos[2]);
aabb[5] = dMAX(aabb[5],point[2]+final_posr->pos[2]);
}
}
