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Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp

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extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp

/* /*
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software. In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: subject to the following restrictions:
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. 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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#include "btConvexInternalShape.h" #include "btConvexInternalShape.h"
btConvexInternalShape::btConvexInternalShape() btConvexInternalShape::btConvexInternalShape()
: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), : m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.)),
m_collisionMargin(CONVEX_DISTANCE_MARGIN) m_collisionMargin(CONVEX_DISTANCE_MARGIN)
{ {
} }
void btConvexInternalShape::setLocalScaling(const btVector3& scaling) void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
{ {
m_localScaling = scaling.absolute(); m_localScaling = scaling.absolute();
} }
void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const void btConvexInternalShape::getAabbSlow(const btTransform& trans, btVector3& minAabb, btVector3& maxAabb) const
{ {
#ifndef __SPU__ #ifndef __SPU__
//use localGetSupportingVertexWithoutMargin? //use localGetSupportingVertexWithoutMargin?
btScalar margin = getMargin(); btScalar margin = getMargin();
for (int i=0;i<3;i++) for (int i = 0; i < 3; i++)
{ {
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
vec[i] = btScalar(1.); vec[i] = btScalar(1.);
btVector3 sv = localGetSupportingVertex(vec*trans.getBasis()); btVector3 sv = localGetSupportingVertex(vec * trans.getBasis());
btVector3 tmp = trans(sv); btVector3 tmp = trans(sv);
maxAabb[i] = tmp[i]+margin; maxAabb[i] = tmp[i] + margin;
vec[i] = btScalar(-1.); vec[i] = btScalar(-1.);
tmp = trans(localGetSupportingVertex(vec*trans.getBasis())); tmp = trans(localGetSupportingVertex(vec * trans.getBasis()));
minAabb[i] = tmp[i]-margin; minAabb[i] = tmp[i] - margin;
} }
#endif #endif
} }
btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec) const
{ {
#ifndef __SPU__ #ifndef __SPU__
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) ) if (getMargin() != btScalar(0.))
{ {
btVector3 vecnorm = vec; btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
{ {
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
} }
vecnorm.normalize(); vecnorm.normalize();
supVertex+= getMargin() * vecnorm; supVertex += getMargin() * vecnorm;
} }
return supVertex; return supVertex;
#else #else
btAssert(0); btAssert(0);
return btVector3(0,0,0); return btVector3(0, 0, 0);
#endif //__SPU__ #endif //__SPU__
} }
btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape() btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
: btConvexInternalShape(), : btConvexInternalShape(),
m_localAabbMin(1,1,1), m_localAabbMin(1, 1, 1),
m_localAabbMax(-1,-1,-1), m_localAabbMax(-1, -1, -1),
m_isLocalAabbValid(false) m_isLocalAabbValid(false)
{ {
} }
void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
{ {
getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin()); getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
} }
void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling) void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
{ {
btConvexInternalShape::setLocalScaling(scaling); btConvexInternalShape::setLocalScaling(scaling);
recalcLocalAabb(); recalcLocalAabb();
} }
void btConvexInternalAabbCachingShape::recalcLocalAabb() void btConvexInternalAabbCachingShape::recalcLocalAabb()
{ {
m_isLocalAabbValid = true; m_isLocalAabbValid = true;
#if 1 #if 1
static const btVector3 _directions[] = static const btVector3 _directions[] =
{ {
btVector3( 1., 0., 0.), btVector3(1., 0., 0.),
btVector3( 0., 1., 0.), btVector3(0., 1., 0.),
btVector3( 0., 0., 1.), btVector3(0., 0., 1.),
btVector3( -1., 0., 0.), btVector3(-1., 0., 0.),
btVector3( 0., -1., 0.), btVector3(0., -1., 0.),
btVector3( 0., 0., -1.) btVector3(0., 0., -1.)};
};
btVector3 _supporting[] = btVector3 _supporting[] =
{ {
btVector3( 0., 0., 0.), btVector3(0., 0., 0.),
btVector3( 0., 0., 0.), btVector3(0., 0., 0.),
btVector3( 0., 0., 0.), btVector3(0., 0., 0.),
btVector3( 0., 0., 0.), btVector3(0., 0., 0.),
btVector3( 0., 0., 0.), btVector3(0., 0., 0.),
btVector3( 0., 0., 0.) btVector3(0., 0., 0.)};
};
batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
for ( int i = 0; i < 3; ++i ) for (int i = 0; i < 3; ++i)
{ {
m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; m_localAabbMax[i] = _supporting[i][i];
m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; m_localAabbMin[i] = _supporting[i + 3][i];
} }
#else #else
for (int i=0;i<3;i++) for (int i = 0; i < 3; i++)
{ {
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
vec[i] = btScalar(1.); vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec); btVector3 tmp = localGetSupportingVertex(vec);
m_localAabbMax[i] = tmp[i]+m_collisionMargin; m_localAabbMax[i] = tmp[i];
vec[i] = btScalar(-1.); vec[i] = btScalar(-1.);
tmp = localGetSupportingVertex(vec); tmp = localGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i]-m_collisionMargin; m_localAabbMin[i] = tmp[i];
} }
#endif #endif
} }