Page MenuHome
Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp

Changeset View

Standalone View

View Options

extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.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.
*/ */
//#if defined (_WIN32) || defined (__i386__) #if defined(_WIN32) || defined(__i386__)
//#define BT_USE_SSE_IN_API #define BT_USE_SSE_IN_API
//#endif #endif
#include "btConvexShape.h" #include "btConvexShape.h"
#include "btTriangleShape.h" #include "btTriangleShape.h"
#include "btSphereShape.h" #include "btSphereShape.h"
#include "btCylinderShape.h" #include "btCylinderShape.h"
#include "btConeShape.h" #include "btConeShape.h"
#include "btCapsuleShape.h" #include "btCapsuleShape.h"
#include "btConvexHullShape.h" #include "btConvexHullShape.h"
#include "btConvexPointCloudShape.h" #include "btConvexPointCloudShape.h"
///not supported on IBM SDK, until we fix the alignment of btVector3 ///not supported on IBM SDK, until we fix the alignment of btVector3
#if defined (__CELLOS_LV2__) && defined (__SPU__) #if defined(__CELLOS_LV2__) && defined(__SPU__)
#include <spu_intrinsics.h> #include <spu_intrinsics.h>
static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 ) static inline vec_float4 vec_dot3(vec_float4 vec0, vec_float4 vec1)
{ {
vec_float4 result; vec_float4 result;
result = spu_mul( vec0, vec1 ); result = spu_mul(vec0, vec1);
result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result ); result = spu_madd(spu_rlqwbyte(vec0, 4), spu_rlqwbyte(vec1, 4), result);
return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result ); return spu_madd(spu_rlqwbyte(vec0, 8), spu_rlqwbyte(vec1, 8), result);
} }
#endif //__SPU__ #endif //__SPU__
btConvexShape::btConvexShape () btConvexShape::btConvexShape()
{ {
} }
btConvexShape::~btConvexShape() btConvexShape::~btConvexShape()
{ {
} }
void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin,btVector3& witnesPtMax) const void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin, btVector3& witnesPtMax) const
{ {
btVector3 localAxis = dir*trans.getBasis(); btVector3 localAxis = dir * trans.getBasis();
btVector3 vtx1 = trans(localGetSupportingVertex(localAxis)); btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis)); btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
min = vtx1.dot(dir); min = vtx1.dot(dir);
max = vtx2.dot(dir); max = vtx2.dot(dir);
witnesPtMax = vtx2; witnesPtMax = vtx2;
witnesPtMin = vtx1; witnesPtMin = vtx1;
if(min>max) if (min > max)
{ {
btScalar tmp = min; btScalar tmp = min;
min = max; min = max;
max = tmp; max = tmp;
witnesPtMax = vtx1; witnesPtMax = vtx1;
witnesPtMin = vtx2; witnesPtMin = vtx2;
} }
} }
static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling) static btVector3 convexHullSupport(const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
{ {
btVector3 vec = localDirOrg * localScaling; btVector3 vec = localDirOrg * localScaling;
#if defined (__CELLOS_LV2__) && defined (__SPU__) #if defined(__CELLOS_LV2__) && defined(__SPU__)
btVector3 localDir = vec; btVector3 localDir = vec;
vec_float4 v_distMax = {-FLT_MAX,0,0,0}; vec_float4 v_distMax = {-FLT_MAX, 0, 0, 0};
vec_int4 v_idxMax = {-999,0,0,0}; vec_int4 v_idxMax = {-999, 0, 0, 0};
int v=0; int v = 0;
int numverts = numPoints; int numverts = numPoints;
for(;v<(int)numverts-4;v+=4) { for (; v < (int)numverts - 4; v += 4)
{
vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128()); vec_float4 p0 = vec_dot3(points[v].get128(), localDir.get128());
vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128()); vec_float4 p1 = vec_dot3(points[v + 1].get128(), localDir.get128());
vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128()); vec_float4 p2 = vec_dot3(points[v + 2].get128(), localDir.get128());
vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128()); vec_float4 p3 = vec_dot3(points[v + 3].get128(), localDir.get128());
const vec_int4 i0 = {v ,0,0,0}; const vec_int4 i0 = {v, 0, 0, 0};
const vec_int4 i1 = {v+1,0,0,0}; const vec_int4 i1 = {v + 1, 0, 0, 0};
const vec_int4 i2 = {v+2,0,0,0}; const vec_int4 i2 = {v + 2, 0, 0, 0};
const vec_int4 i3 = {v+3,0,0,0}; const vec_int4 i3 = {v + 3, 0, 0, 0};
vec_uint4 retGt01 = spu_cmpgt(p0,p1); vec_uint4 retGt01 = spu_cmpgt(p0, p1);
vec_float4 pmax01 = spu_sel(p1,p0,retGt01); vec_float4 pmax01 = spu_sel(p1, p0, retGt01);
vec_int4 imax01 = spu_sel(i1,i0,retGt01); vec_int4 imax01 = spu_sel(i1, i0, retGt01);
vec_uint4 retGt23 = spu_cmpgt(p2,p3); vec_uint4 retGt23 = spu_cmpgt(p2, p3);
vec_float4 pmax23 = spu_sel(p3,p2,retGt23); vec_float4 pmax23 = spu_sel(p3, p2, retGt23);
vec_int4 imax23 = spu_sel(i3,i2,retGt23); vec_int4 imax23 = spu_sel(i3, i2, retGt23);
vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23); vec_uint4 retGt0123 = spu_cmpgt(pmax01, pmax23);
vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123); vec_float4 pmax0123 = spu_sel(pmax23, pmax01, retGt0123);
vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123); vec_int4 imax0123 = spu_sel(imax23, imax01, retGt0123);
vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123); vec_uint4 retGtMax = spu_cmpgt(v_distMax, pmax0123);
v_distMax = spu_sel(pmax0123,v_distMax,retGtMax); v_distMax = spu_sel(pmax0123, v_distMax, retGtMax);
v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax); v_idxMax = spu_sel(imax0123, v_idxMax, retGtMax);
} }
for(;v<(int)numverts;v++) { for (; v < (int)numverts; v++)
{
vec_float4 p = vec_dot3(points[v].get128(),localDir.get128()); vec_float4 p = vec_dot3(points[v].get128(), localDir.get128());
const vec_int4 i = {v,0,0,0}; const vec_int4 i = {v, 0, 0, 0};
vec_uint4 retGtMax = spu_cmpgt(v_distMax,p); vec_uint4 retGtMax = spu_cmpgt(v_distMax, p);
v_distMax = spu_sel(p,v_distMax,retGtMax); v_distMax = spu_sel(p, v_distMax, retGtMax);
v_idxMax = spu_sel(i,v_idxMax,retGtMax); v_idxMax = spu_sel(i, v_idxMax, retGtMax);
} }
int ptIndex = spu_extract(v_idxMax,0); int ptIndex = spu_extract(v_idxMax, 0);
const btVector3& supVec= points[ptIndex] * localScaling; const btVector3& supVec = points[ptIndex] * localScaling;
return supVec; return supVec;
#else #else
btScalar maxDot; btScalar maxDot;
long ptIndex = vec.maxDot( points, numPoints, maxDot); long ptIndex = vec.maxDot(points, numPoints, maxDot);
btAssert(ptIndex >= 0); btAssert(ptIndex >= 0);
if (ptIndex < 0)
{
ptIndex = 0;
}
btVector3 supVec = points[ptIndex] * localScaling; btVector3 supVec = points[ptIndex] * localScaling;
return supVec; return supVec;
#endif //__SPU__ #endif //__SPU__
} }
btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual(const btVector3& localDir) const
{ {
switch (m_shapeType) switch (m_shapeType)
{ {
case SPHERE_SHAPE_PROXYTYPE: case SPHERE_SHAPE_PROXYTYPE:
{ {
return btVector3(0,0,0); return btVector3(0, 0, 0);
} }
case BOX_SHAPE_PROXYTYPE: case BOX_SHAPE_PROXYTYPE:
{ {
btBoxShape* convexShape = (btBoxShape*)this; btBoxShape* convexShape = (btBoxShape*)this;
const btVector3& halfExtents = convexShape->getImplicitShapeDimensions(); const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON )) #if defined(__APPLE__) && (defined(BT_USE_SSE) || defined(BT_USE_NEON))
#if defined( BT_USE_SSE ) #if defined(BT_USE_SSE)
return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 )); return btVector3(_mm_xor_ps(_mm_and_ps(localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f}), halfExtents.mVec128));
#elif defined( BT_USE_NEON ) #elif defined(BT_USE_NEON)
return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 )); return btVector3((float32x4_t)(((uint32x4_t)localDir.mVec128 & (uint32x4_t){0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t)halfExtents.mVec128));
#else #else
#error unknown vector arch #error unknown vector arch
#endif #endif
#else #else
return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()), return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()), btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
btFsels(localDir.z(), halfExtents.z(), -halfExtents.z())); btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
#endif #endif
} }
case TRIANGLE_SHAPE_PROXYTYPE: case TRIANGLE_SHAPE_PROXYTYPE:
{ {
btTriangleShape* triangleShape = (btTriangleShape*)this; btTriangleShape* triangleShape = (btTriangleShape*)this;
btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ()); btVector3 dir(localDir.getX(), localDir.getY(), localDir.getZ());
btVector3* vertices = &triangleShape->m_vertices1[0]; btVector3* vertices = &triangleShape->m_vertices1[0];
btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]); btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
btVector3 sup = vertices[dots.maxAxis()]; btVector3 sup = vertices[dots.maxAxis()];
return btVector3(sup.getX(),sup.getY(),sup.getZ()); return btVector3(sup.getX(), sup.getY(), sup.getZ());
} }
case CYLINDER_SHAPE_PROXYTYPE: case CYLINDER_SHAPE_PROXYTYPE:
{ {
btCylinderShape* cylShape = (btCylinderShape*)this; btCylinderShape* cylShape = (btCylinderShape*)this;
//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis) //mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
btVector3 halfExtents = cylShape->getImplicitShapeDimensions(); btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ()); btVector3 v(localDir.getX(), localDir.getY(), localDir.getZ());
int cylinderUpAxis = cylShape->getUpAxis(); int cylinderUpAxis = cylShape->getUpAxis();
int XX(1),YY(0),ZZ(2); int XX(1), YY(0), ZZ(2);
switch (cylinderUpAxis) switch (cylinderUpAxis)
{ {
case 0: case 0:
{ {
XX = 1; XX = 1;
YY = 0; YY = 0;
ZZ = 2; ZZ = 2;
} }
break; break;
case 1: case 1:
{ {
XX = 0; XX = 0;
YY = 1; YY = 1;
ZZ = 2; ZZ = 2;
} }
break; break;
case 2: case 2:
{ {
XX = 0; XX = 0;
YY = 2; YY = 2;
ZZ = 1; ZZ = 1;
} }
break; break;
default: default:
btAssert(0); btAssert(0);
break; break;
}; };
btScalar radius = halfExtents[XX]; btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis]; btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp; btVector3 tmp;
btScalar d ; btScalar d;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0)) if (s != btScalar(0.0))
{ {
d = radius / s; d = radius / s;
tmp[XX] = v[XX] * d; tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d; tmp[ZZ] = v[ZZ] * d;
return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()); return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
} else { }
else
{
tmp[XX] = radius; tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0); tmp[ZZ] = btScalar(0.0);
return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()); return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
} }
} }
case CAPSULE_SHAPE_PROXYTYPE: case CAPSULE_SHAPE_PROXYTYPE:
{ {
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ()); btVector3 vec0(localDir.getX(), localDir.getY(), localDir.getZ());
btCapsuleShape* capsuleShape = (btCapsuleShape*)this; btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
btScalar halfHeight = capsuleShape->getHalfHeight(); btScalar halfHeight = capsuleShape->getHalfHeight();
int capsuleUpAxis = capsuleShape->getUpAxis(); int capsuleUpAxis = capsuleShape->getUpAxis();
btScalar radius = capsuleShape->getRadius();
btVector3 supVec(0,0,0); btVector3 supVec(0, 0, 0);
btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0; btVector3 vec = vec0;
btScalar lenSqr = vec.length2(); btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001)) if (lenSqr < SIMD_EPSILON * SIMD_EPSILON)
{ {
vec.setValue(1,0,0); vec.setValue(1, 0, 0);
} else }
else
{ {
btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
vec *= rlen; vec *= rlen;
} }
btVector3 vtx; btVector3 vtx;
btScalar newDot; btScalar newDot;
{ {
btVector3 pos(0,0,0); btVector3 pos(0, 0, 0);
pos[capsuleUpAxis] = halfHeight; pos[capsuleUpAxis] = halfHeight;
//vtx = pos +vec*(radius); vtx = pos;
vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
newDot = vec.dot(vtx); newDot = vec.dot(vtx);
if (newDot > maxDot) if (newDot > maxDot)
{ {
maxDot = newDot; maxDot = newDot;
supVec = vtx; supVec = vtx;
} }
} }
{ {
btVector3 pos(0,0,0); btVector3 pos(0, 0, 0);
pos[capsuleUpAxis] = -halfHeight; pos[capsuleUpAxis] = -halfHeight;
//vtx = pos +vec*(radius); vtx = pos;
vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
newDot = vec.dot(vtx); newDot = vec.dot(vtx);
if (newDot > maxDot) if (newDot > maxDot)
{ {
maxDot = newDot; maxDot = newDot;
supVec = vtx; supVec = vtx;
} }
} }
return btVector3(supVec.getX(),supVec.getY(),supVec.getZ()); return btVector3(supVec.getX(), supVec.getY(), supVec.getZ());
} }
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
{ {
btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this; btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
btVector3* points = convexPointCloudShape->getUnscaledPoints (); btVector3* points = convexPointCloudShape->getUnscaledPoints();
int numPoints = convexPointCloudShape->getNumPoints (); int numPoints = convexPointCloudShape->getNumPoints();
return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV()); return convexHullSupport(localDir, points, numPoints, convexPointCloudShape->getLocalScalingNV());
} }
case CONVEX_HULL_SHAPE_PROXYTYPE: case CONVEX_HULL_SHAPE_PROXYTYPE:
{ {
btConvexHullShape* convexHullShape = (btConvexHullShape*)this; btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
btVector3* points = convexHullShape->getUnscaledPoints(); btVector3* points = convexHullShape->getUnscaledPoints();
int numPoints = convexHullShape->getNumPoints (); int numPoints = convexHullShape->getNumPoints();
return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV()); return convexHullSupport(localDir, points, numPoints, convexHullShape->getLocalScalingNV());
} }
default: default:
#ifndef __SPU__ #ifndef __SPU__
return this->localGetSupportingVertexWithoutMargin (localDir); return this->localGetSupportingVertexWithoutMargin(localDir);
#else #else
btAssert (0); btAssert(0);
#endif #endif
} }
// should never reach here // should never reach here
btAssert (0); btAssert(0);
return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f)); return btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
} }
btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const btVector3 btConvexShape::localGetSupportVertexNonVirtual(const btVector3& localDir) const
{ {
btVector3 localDirNorm = localDir; btVector3 localDirNorm = localDir;
if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) if (localDirNorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
{ {
localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); localDirNorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
} }
localDirNorm.normalize (); localDirNorm.normalize();
return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm; return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm) + getMarginNonVirtual() * localDirNorm;
} }
/* TODO: This should be bumped up to btCollisionShape () */ /* TODO: This should be bumped up to btCollisionShape () */
btScalar btConvexShape::getMarginNonVirtual () const btScalar btConvexShape::getMarginNonVirtual() const
{ {
switch (m_shapeType) switch (m_shapeType)
{ {
case SPHERE_SHAPE_PROXYTYPE: case SPHERE_SHAPE_PROXYTYPE:
{ {
btSphereShape* sphereShape = (btSphereShape*)this; btSphereShape* sphereShape = (btSphereShape*)this;
return sphereShape->getRadius (); return sphereShape->getRadius();
} }
case BOX_SHAPE_PROXYTYPE: case BOX_SHAPE_PROXYTYPE:
{ {
btBoxShape* convexShape = (btBoxShape*)this; btBoxShape* convexShape = (btBoxShape*)this;
return convexShape->getMarginNV (); return convexShape->getMarginNV();
} }
case TRIANGLE_SHAPE_PROXYTYPE: case TRIANGLE_SHAPE_PROXYTYPE:
{ {
btTriangleShape* triangleShape = (btTriangleShape*)this; btTriangleShape* triangleShape = (btTriangleShape*)this;
return triangleShape->getMarginNV (); return triangleShape->getMarginNV();
} }
case CYLINDER_SHAPE_PROXYTYPE: case CYLINDER_SHAPE_PROXYTYPE:
{ {
btCylinderShape* cylShape = (btCylinderShape*)this; btCylinderShape* cylShape = (btCylinderShape*)this;
return cylShape->getMarginNV(); return cylShape->getMarginNV();
} }
case CONE_SHAPE_PROXYTYPE: case CONE_SHAPE_PROXYTYPE:
{ {
btConeShape* conShape = (btConeShape*)this; btConeShape* conShape = (btConeShape*)this;
return conShape->getMarginNV(); return conShape->getMarginNV();
} }
case CAPSULE_SHAPE_PROXYTYPE: case CAPSULE_SHAPE_PROXYTYPE:
{ {
btCapsuleShape* capsuleShape = (btCapsuleShape*)this; btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
return capsuleShape->getMarginNV(); return capsuleShape->getMarginNV();
} }
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
/* fall through */ /* fall through */
case CONVEX_HULL_SHAPE_PROXYTYPE: case CONVEX_HULL_SHAPE_PROXYTYPE:
{ {
btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this; btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
return convexHullShape->getMarginNV(); return convexHullShape->getMarginNV();
} }
default: default:
#ifndef __SPU__ #ifndef __SPU__
return this->getMargin (); return this->getMargin();
#else #else
btAssert (0); btAssert(0);
#endif #endif
} }
// should never reach here // should never reach here
btAssert (0); btAssert(0);
return btScalar(0.0f); return btScalar(0.0f);
} }
#ifndef __SPU__ #ifndef __SPU__
void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const void btConvexShape::getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{ {
switch (m_shapeType) switch (m_shapeType)
{ {
case SPHERE_SHAPE_PROXYTYPE: case SPHERE_SHAPE_PROXYTYPE:
{ {
btSphereShape* sphereShape = (btSphereShape*)this; btSphereShape* sphereShape = (btSphereShape*)this;
btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX(); btScalar radius = sphereShape->getImplicitShapeDimensions().getX(); // * convexShape->getLocalScaling().getX();
btScalar margin = radius + sphereShape->getMarginNonVirtual(); btScalar margin = radius + sphereShape->getMarginNonVirtual();
const btVector3& center = t.getOrigin(); const btVector3& center = t.getOrigin();
btVector3 extent(margin,margin,margin); btVector3 extent(margin, margin, margin);
aabbMin = center - extent; aabbMin = center - extent;
aabbMax = center + extent; aabbMax = center + extent;
} }
break; break;
case CYLINDER_SHAPE_PROXYTYPE: case CYLINDER_SHAPE_PROXYTYPE:
/* fall through */ /* fall through */
case BOX_SHAPE_PROXYTYPE: case BOX_SHAPE_PROXYTYPE:
{ {
btBoxShape* convexShape = (btBoxShape*)this; btBoxShape* convexShape = (btBoxShape*)this;
btScalar margin=convexShape->getMarginNonVirtual(); btScalar margin = convexShape->getMarginNonVirtual();
btVector3 halfExtents = convexShape->getImplicitShapeDimensions(); btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
halfExtents += btVector3(margin,margin,margin); halfExtents += btVector3(margin, margin, margin);
btMatrix3x3 abs_b = t.getBasis().absolute(); btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin(); btVector3 center = t.getOrigin();
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent; aabbMin = center - extent;
aabbMax = center + extent; aabbMax = center + extent;
break; break;
} }
case TRIANGLE_SHAPE_PROXYTYPE: case TRIANGLE_SHAPE_PROXYTYPE:
{ {
btTriangleShape* triangleShape = (btTriangleShape*)this; btTriangleShape* triangleShape = (btTriangleShape*)this;
btScalar margin = triangleShape->getMarginNonVirtual(); btScalar margin = triangleShape->getMarginNonVirtual();
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 = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()); btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis());
btVector3 tmp = t(sv); btVector3 tmp = t(sv);
aabbMax[i] = tmp[i]+margin; aabbMax[i] = tmp[i] + margin;
vec[i] = btScalar(-1.); vec[i] = btScalar(-1.);
tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis())); tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis()));
aabbMin[i] = tmp[i]-margin; aabbMin[i] = tmp[i] - margin;
} }
} }
break; break;
case CAPSULE_SHAPE_PROXYTYPE: case CAPSULE_SHAPE_PROXYTYPE:
{ {
btCapsuleShape* capsuleShape = (btCapsuleShape*)this; btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius()); btVector3 halfExtents(capsuleShape->getRadius(), capsuleShape->getRadius(), capsuleShape->getRadius());
int m_upAxis = capsuleShape->getUpAxis(); int m_upAxis = capsuleShape->getUpAxis();
halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight(); halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
btMatrix3x3 abs_b = t.getBasis().absolute(); btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin(); btVector3 center = t.getOrigin();
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent; aabbMin = center - extent;
aabbMax = center + extent; aabbMax = center + extent;
} }
break; break;
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE: case CONVEX_HULL_SHAPE_PROXYTYPE:
{ {
btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this; btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
btScalar margin = convexHullShape->getMarginNonVirtual(); btScalar margin = convexHullShape->getMarginNonVirtual();
convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin); convexHullShape->getNonvirtualAabb(t, aabbMin, aabbMax, margin);
} }
break; break;
default: default:
#ifndef __SPU__ #ifndef __SPU__
this->getAabb (t, aabbMin, aabbMax); this->getAabb(t, aabbMin, aabbMax);
#else #else
btAssert (0); btAssert(0);
#endif #endif
break; break;
} }
// should never reach here // should never reach here
btAssert (0); btAssert(0);
} }
#endif //__SPU__ #endif //__SPU__