Method shiftFace

src/Bullet3Geometry/b3ConvexHullComputer.cpp:2208–2623

}

bool b3ConvexHullInternal::shiftFace(Face* face, b3Scalar amount, b3AlignedObjectArray<Vertex*> stack)
{
	b3Vector3 origShift = getBtNormal(face) * -amount;
	if (scaling[0] != 0)
	{
		origShift[0] /= scaling[0];
	}
	if (scaling[1] != 0)
	{
		origShift[1] /= scaling[1];
	}
	if (scaling[2] != 0)
	{
		origShift[2] /= scaling[2];
	}
	Point32 shift((btInt32_t)origShift[medAxis], (btInt32_t)origShift[maxAxis], (btInt32_t)origShift[minAxis]);
	if (shift.isZero())
	{
		return true;
	}
	Point64 normal = face->getNormal();
#ifdef DEBUG_CONVEX_HULL
	b3Printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n",
			 face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z);
#endif
	btInt64_t origDot = face->origin.dot(normal);
	Point32 shiftedOrigin = face->origin + shift;
	btInt64_t shiftedDot = shiftedOrigin.dot(normal);
	b3Assert(shiftedDot <= origDot);
	if (shiftedDot >= origDot)
	{
		return false;
	}

	Edge* intersection = NULL;

	Edge* startEdge = face->nearbyVertex->edges;
#ifdef DEBUG_CONVEX_HULL
	b3Printf("Start edge is ");
	startEdge->print();
	b3Printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot);
#endif
	Rational128 optDot = face->nearbyVertex->dot(normal);
	int cmp = optDot.compare(shiftedDot);
#ifdef SHOW_ITERATIONS
	int n = 0;
#endif
	if (cmp >= 0)
	{
		Edge* e = startEdge;
		do
		{
#ifdef SHOW_ITERATIONS
			n++;
#endif
			Rational128 dot = e->target->dot(normal);
			b3Assert(dot.compare(origDot) <= 0);
#ifdef DEBUG_CONVEX_HULL