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35 lines
1.2 KiB
C++
35 lines
1.2 KiB
C++
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#ifndef B3_SUPPORT_MAPPINGS_H
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#define B3_SUPPORT_MAPPINGS_H
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#include "Bullet3Common/b3Transform.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "b3VectorFloat4.h"
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struct b3GjkPairDetector;
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inline b3Vector3 localGetSupportVertexWithMargin(const float4& supportVec, const struct b3ConvexPolyhedronData* hull,
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const b3AlignedObjectArray<b3Vector3>& verticesA, b3Scalar margin)
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{
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b3Vector3 supVec = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
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b3Scalar maxDot = b3Scalar(-B3_LARGE_FLOAT);
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// Here we take advantage of dot(a, b*c) = dot(a*b, c). Note: This is true mathematically, but not numerically.
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if (0 < hull->m_numVertices)
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{
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const b3Vector3 scaled = supportVec;
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int index = (int)scaled.maxDot(&verticesA[hull->m_vertexOffset], hull->m_numVertices, maxDot);
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return verticesA[hull->m_vertexOffset + index];
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}
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return supVec;
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}
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inline b3Vector3 localGetSupportVertexWithoutMargin(const float4& supportVec, const struct b3ConvexPolyhedronData* hull,
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const b3AlignedObjectArray<b3Vector3>& verticesA)
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{
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return localGetSupportVertexWithMargin(supportVec, hull, verticesA, 0.f);
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}
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#endif //B3_SUPPORT_MAPPINGS_H
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