1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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
16 //btShapeHull was implemented by John McCutchan.
17
18 #include "btShapeHull.h"
19 #include "LinearMath/btConvexHull.h"
20
21 #define NUM_UNITSPHERE_POINTS 42
22 #define NUM_UNITSPHERE_POINTS_HIGHRES 256
23
btShapeHull(const btConvexShape * shape)24 btShapeHull::btShapeHull(const btConvexShape* shape)
25 {
26 m_shape = shape;
27 m_vertices.clear();
28 m_indices.clear();
29 m_numIndices = 0;
30 }
31
~btShapeHull()32 btShapeHull::~btShapeHull()
33 {
34 m_indices.clear();
35 m_vertices.clear();
36 }
37
buildHull(btScalar,int highres)38 bool btShapeHull::buildHull(btScalar /*margin*/, int highres)
39 {
40
41 int numSampleDirections = highres ? NUM_UNITSPHERE_POINTS_HIGHRES : NUM_UNITSPHERE_POINTS;
42 btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
43 int i;
44 for (i = 0; i < numSampleDirections; i++)
45 {
46 supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
47 }
48
49 int numPDA = m_shape->getNumPreferredPenetrationDirections();
50 if (numPDA)
51 {
52 for (int s = 0; s < numPDA; s++)
53 {
54 btVector3 norm;
55 m_shape->getPreferredPenetrationDirection(s, norm);
56 supportPoints[i++] = m_shape->localGetSupportingVertex(norm);
57 numSampleDirections++;
58 }
59 }
60 HullDesc hd;
61 hd.mFlags = QF_TRIANGLES;
62 hd.mVcount = static_cast<unsigned int>(numSampleDirections);
63
64 #ifdef BT_USE_DOUBLE_PRECISION
65 hd.mVertices = &supportPoints[0];
66 hd.mVertexStride = sizeof(btVector3);
67 #else
68 hd.mVertices = &supportPoints[0];
69 hd.mVertexStride = sizeof(btVector3);
70 #endif
71
72 HullLibrary hl;
73 HullResult hr;
74 if (hl.CreateConvexHull(hd, hr) == QE_FAIL)
75 {
76 return false;
77 }
78
79 m_vertices.resize(static_cast<int>(hr.mNumOutputVertices));
80
81 for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
82 {
83 m_vertices[i] = hr.m_OutputVertices[i];
84 }
85 m_numIndices = hr.mNumIndices;
86 m_indices.resize(static_cast<int>(m_numIndices));
87 for (i = 0; i < static_cast<int>(m_numIndices); i++)
88 {
89 m_indices[i] = hr.m_Indices[i];
90 }
91
92 // free temporary hull result that we just copied
93 hl.ReleaseResult(hr);
94
95 return true;
96 }
97
numTriangles() const98 int btShapeHull::numTriangles() const
99 {
100 return static_cast<int>(m_numIndices / 3);
101 }
102
numVertices() const103 int btShapeHull::numVertices() const
104 {
105 return m_vertices.size();
106 }
107
numIndices() const108 int btShapeHull::numIndices() const
109 {
110 return static_cast<int>(m_numIndices);
111 }
112
getUnitSpherePoints(int highres)113 btVector3* btShapeHull::getUnitSpherePoints(int highres)
114 {
115 static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
116 {
117 btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),
118 btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),
119 btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),
120 btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),
121 btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),
122 btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),
123 btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),
124 btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),
125 btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),
126 btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),
127 btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),
128 btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),
129 btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),
130 btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),
131 btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),
132 btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),
133 btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),
134 btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),
135 btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),
136 btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),
137 btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),
138 btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),
139 btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),
140 btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),
141 btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),
142 btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),
143 btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),
144 btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),
145 btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),
146 btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),
147 btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),
148 btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),
149 btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),
150 btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),
151 btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),
152 btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),
153 btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),
154 btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),
155 btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),
156 btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),
157 btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),
158 btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),
159 btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),
160 btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),
161 btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),
162 btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),
163 btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),
164 btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),
165 btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),
166 btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),
167 btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),
168 btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),
169 btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),
170 btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),
171 btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),
172 btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),
173 btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),
174 btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),
175 btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),
176 btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),
177 btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),
178 btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),
179 btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),
180 btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),
181 btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),
182 btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),
183 btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),
184 btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),
185 btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),
186 btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),
187 btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),
188 btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),
189 btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),
190 btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),
191 btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),
192 btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),
193 btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),
194 btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),
195 btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),
196 btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),
197 btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),
198 btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),
199 btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),
200 btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),
201 btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),
202 btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),
203 btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),
204 btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),
205 btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),
206 btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),
207 btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),
208 btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),
209 btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),
210 btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),
211 btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),
212 btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),
213 btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),
214 btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),
215 btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),
216 btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),
217 btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),
218 btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),
219 btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),
220 btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),
221 btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),
222 btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),
223 btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),
224 btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),
225 btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),
226 btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),
227 btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),
228 btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),
229 btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),
230 btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),
231 btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),
232 btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),
233 btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),
234 btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),
235 btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),
236 btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),
237 btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),
238 btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),
239 btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),
240 btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),
241 btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),
242 btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),
243 btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),
244 btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),
245 btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),
246 btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),
247 btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),
248 btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),
249 btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),
250 btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),
251 btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),
252 btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),
253 btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),
254 btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),
255 btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),
256 btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),
257 btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),
258 btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),
259 btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),
260 btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),
261 btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),
262 btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),
263 btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),
264 btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),
265 btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),
266 btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),
267 btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),
268 btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),
269 btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),
270 btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),
271 btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),
272 btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),
273 btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),
274 btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),
275 btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),
276 btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),
277 btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),
278 btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),
279 btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),
280 btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),
281 btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),
282 btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),
283 btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),
284 btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),
285 btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),
286 btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),
287 btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),
288 btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),
289 btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),
290 btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),
291 btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),
292 btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),
293 btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),
294 btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),
295 btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),
296 btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),
297 btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),
298 btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),
299 btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),
300 btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),
301 btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),
302 btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),
303 btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),
304 btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),
305 btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),
306 btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),
307 btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),
308 btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),
309 btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),
310 btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),
311 btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),
312 btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),
313 btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),
314 btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),
315 btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),
316 btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),
317 btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),
318 btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),
319 btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),
320 btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),
321 btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),
322 btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),
323 btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),
324 btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),
325 btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),
326 btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),
327 btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),
328 btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),
329 btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),
330 btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),
331 btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),
332 btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),
333 btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),
334 btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),
335 btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),
336 btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),
337 btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),
338 btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),
339 btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),
340 btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),
341 btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),
342 btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),
343 btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),
344 btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),
345 btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),
346 btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),
347 btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),
348 btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),
349 btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),
350 btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),
351 btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),
352 btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),
353 btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),
354 btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),
355 btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),
356 btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),
357 btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),
358 btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),
359 btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),
360 btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),
361 btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),
362 btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),
363 btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),
364 btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),
365 btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),
366 btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),
367 btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),
368 btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),
369 btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),
370 btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),
371 btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),
372 btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),
373 };
374 static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
375 {
376 btVector3(btScalar(0.000000), btScalar(-0.000000), btScalar(-1.000000)),
377 btVector3(btScalar(0.723608), btScalar(-0.525725), btScalar(-0.447219)),
378 btVector3(btScalar(-0.276388), btScalar(-0.850649), btScalar(-0.447219)),
379 btVector3(btScalar(-0.894426), btScalar(-0.000000), btScalar(-0.447216)),
380 btVector3(btScalar(-0.276388), btScalar(0.850649), btScalar(-0.447220)),
381 btVector3(btScalar(0.723608), btScalar(0.525725), btScalar(-0.447219)),
382 btVector3(btScalar(0.276388), btScalar(-0.850649), btScalar(0.447220)),
383 btVector3(btScalar(-0.723608), btScalar(-0.525725), btScalar(0.447219)),
384 btVector3(btScalar(-0.723608), btScalar(0.525725), btScalar(0.447219)),
385 btVector3(btScalar(0.276388), btScalar(0.850649), btScalar(0.447219)),
386 btVector3(btScalar(0.894426), btScalar(0.000000), btScalar(0.447216)),
387 btVector3(btScalar(-0.000000), btScalar(0.000000), btScalar(1.000000)),
388 btVector3(btScalar(0.425323), btScalar(-0.309011), btScalar(-0.850654)),
389 btVector3(btScalar(-0.162456), btScalar(-0.499995), btScalar(-0.850654)),
390 btVector3(btScalar(0.262869), btScalar(-0.809012), btScalar(-0.525738)),
391 btVector3(btScalar(0.425323), btScalar(0.309011), btScalar(-0.850654)),
392 btVector3(btScalar(0.850648), btScalar(-0.000000), btScalar(-0.525736)),
393 btVector3(btScalar(-0.525730), btScalar(-0.000000), btScalar(-0.850652)),
394 btVector3(btScalar(-0.688190), btScalar(-0.499997), btScalar(-0.525736)),
395 btVector3(btScalar(-0.162456), btScalar(0.499995), btScalar(-0.850654)),
396 btVector3(btScalar(-0.688190), btScalar(0.499997), btScalar(-0.525736)),
397 btVector3(btScalar(0.262869), btScalar(0.809012), btScalar(-0.525738)),
398 btVector3(btScalar(0.951058), btScalar(0.309013), btScalar(0.000000)),
399 btVector3(btScalar(0.951058), btScalar(-0.309013), btScalar(0.000000)),
400 btVector3(btScalar(0.587786), btScalar(-0.809017), btScalar(0.000000)),
401 btVector3(btScalar(0.000000), btScalar(-1.000000), btScalar(0.000000)),
402 btVector3(btScalar(-0.587786), btScalar(-0.809017), btScalar(0.000000)),
403 btVector3(btScalar(-0.951058), btScalar(-0.309013), btScalar(-0.000000)),
404 btVector3(btScalar(-0.951058), btScalar(0.309013), btScalar(-0.000000)),
405 btVector3(btScalar(-0.587786), btScalar(0.809017), btScalar(-0.000000)),
406 btVector3(btScalar(-0.000000), btScalar(1.000000), btScalar(-0.000000)),
407 btVector3(btScalar(0.587786), btScalar(0.809017), btScalar(-0.000000)),
408 btVector3(btScalar(0.688190), btScalar(-0.499997), btScalar(0.525736)),
409 btVector3(btScalar(-0.262869), btScalar(-0.809012), btScalar(0.525738)),
410 btVector3(btScalar(-0.850648), btScalar(0.000000), btScalar(0.525736)),
411 btVector3(btScalar(-0.262869), btScalar(0.809012), btScalar(0.525738)),
412 btVector3(btScalar(0.688190), btScalar(0.499997), btScalar(0.525736)),
413 btVector3(btScalar(0.525730), btScalar(0.000000), btScalar(0.850652)),
414 btVector3(btScalar(0.162456), btScalar(-0.499995), btScalar(0.850654)),
415 btVector3(btScalar(-0.425323), btScalar(-0.309011), btScalar(0.850654)),
416 btVector3(btScalar(-0.425323), btScalar(0.309011), btScalar(0.850654)),
417 btVector3(btScalar(0.162456), btScalar(0.499995), btScalar(0.850654))};
418 if (highres)
419 return sUnitSpherePointsHighres;
420 return sUnitSpherePoints;
421 }
422