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

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

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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 "btCylinderShape.h" #include "btCylinderShape.h"
btCylinderShape::btCylinderShape (const btVector3& halfExtents) btCylinderShape::btCylinderShape(const btVector3& halfExtents)
:btConvexInternalShape(), : btConvexInternalShape(),
m_upAxis(1) m_upAxis(1)
{ {
setSafeMargin(halfExtents);
btVector3 margin(getMargin(),getMargin(),getMargin()); btVector3 margin(getMargin(), getMargin(), getMargin());
m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin; m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
setSafeMargin(halfExtents);
m_shapeType = CYLINDER_SHAPE_PROXYTYPE; m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
} }
btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents) btCylinderShapeX::btCylinderShapeX(const btVector3& halfExtents)
:btCylinderShape(halfExtents) : btCylinderShape(halfExtents)
{ {
m_upAxis = 0; m_upAxis = 0;
} }
btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents) btCylinderShapeZ::btCylinderShapeZ(const btVector3& halfExtents)
:btCylinderShape(halfExtents) : btCylinderShape(halfExtents)
{ {
m_upAxis = 2; m_upAxis = 2;
} }
void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const void btCylinderShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{ {
btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
} }
void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const void btCylinderShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
{ {
//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility //Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
//#define USE_BOX_INERTIA_APPROXIMATION 1 //#define USE_BOX_INERTIA_APPROXIMATION 1
#ifndef USE_BOX_INERTIA_APPROXIMATION #ifndef USE_BOX_INERTIA_APPROXIMATION
/* /*
cylinder is defined as following: cylinder is defined as following:
* *
* - principle axis aligned along y by default, radius in x, z-value not used * - principle axis aligned along y by default, radius in x, z-value not used
* - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used * - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used
* - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used * - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used
* *
*/ */
btScalar radius2; // square of cylinder radius btScalar radius2; // square of cylinder radius
btScalar height2; // square of cylinder height btScalar height2; // square of cylinder height
btVector3 halfExtents = getHalfExtentsWithMargin(); // get cylinder dimension btVector3 halfExtents = getHalfExtentsWithMargin(); // get cylinder dimension
btScalar div12 = mass / 12.f; btScalar div12 = mass / 12.f;
btScalar div4 = mass / 4.f; btScalar div4 = mass / 4.f;
btScalar div2 = mass / 2.f; btScalar div2 = mass / 2.f;
int idxRadius, idxHeight; int idxRadius, idxHeight;
switch (m_upAxis) // get indices of radius and height of cylinder switch (m_upAxis) // get indices of radius and height of cylinder
{ {
case 0: // cylinder is aligned along x case 0: // cylinder is aligned along x
idxRadius = 1; idxRadius = 1;
idxHeight = 0; idxHeight = 0;
break; break;
case 2: // cylinder is aligned along z case 2: // cylinder is aligned along z
idxRadius = 0; idxRadius = 0;
idxHeight = 2; idxHeight = 2;
break; break;
default: // cylinder is aligned along y default: // cylinder is aligned along y
idxRadius = 0; idxRadius = 0;
idxHeight = 1; idxHeight = 1;
} }
// calculate squares // calculate squares
radius2 = halfExtents[idxRadius] * halfExtents[idxRadius]; radius2 = halfExtents[idxRadius] * halfExtents[idxRadius];
height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight]; height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight];
// calculate tensor terms // calculate tensor terms
btScalar t1 = div12 * height2 + div4 * radius2; btScalar t1 = div12 * height2 + div4 * radius2;
btScalar t2 = div2 * radius2; btScalar t2 = div2 * radius2;
switch (m_upAxis) // set diagonal elements of inertia tensor switch (m_upAxis) // set diagonal elements of inertia tensor
{ {
case 0: // cylinder is aligned along x case 0: // cylinder is aligned along x
inertia.setValue(t2,t1,t1); inertia.setValue(t2, t1, t1);
break; break;
case 2: // cylinder is aligned along z case 2: // cylinder is aligned along z
inertia.setValue(t1,t1,t2); inertia.setValue(t1, t1, t2);
break; break;
default: // cylinder is aligned along y default: // cylinder is aligned along y
inertia.setValue(t1,t2,t1); inertia.setValue(t1, t2, t1);
} }
#else //USE_BOX_INERTIA_APPROXIMATION #else //USE_BOX_INERTIA_APPROXIMATION
//approximation of box shape //approximation of box shape
btVector3 halfExtents = getHalfExtentsWithMargin(); btVector3 halfExtents = getHalfExtentsWithMargin();
btScalar lx=btScalar(2.)*(halfExtents.x()); btScalar lx = btScalar(2.) * (halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y()); btScalar ly = btScalar(2.) * (halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z()); btScalar lz = btScalar(2.) * (halfExtents.z());
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
mass/(btScalar(12.0)) * (lx*lx + lz*lz), mass / (btScalar(12.0)) * (lx * lx + lz * lz),
mass/(btScalar(12.0)) * (lx*lx + ly*ly)); mass / (btScalar(12.0)) * (lx * lx + ly * ly));
#endif //USE_BOX_INERTIA_APPROXIMATION #endif //USE_BOX_INERTIA_APPROXIMATION
} }
SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v) SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents, const btVector3& v)
{ {
const int cylinderUpAxis = 0; const int cylinderUpAxis = 0;
const int XX = 1; const int XX = 1;
const int YY = 0; const int YY = 0;
const int ZZ = 2; const int ZZ = 2;
//mapping depends on how cylinder local orientation is //mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height // extents of the cylinder is: X,Y is for radius, and Z for height
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 tmp; return tmp;
} }
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 tmp; return tmp;
} }
} }
inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v) inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents, const btVector3& v)
{ {
const int cylinderUpAxis = 1; const int cylinderUpAxis = 1;
const int XX = 0; const int XX = 0;
const int YY = 1; const int YY = 1;
const int ZZ = 2; const int ZZ = 2;
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 tmp; return tmp;
} }
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 tmp; return tmp;
} }
} }
inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v) inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents, const btVector3& v)
{ {
const int cylinderUpAxis = 2; const int cylinderUpAxis = 2;
const int XX = 0; const int XX = 0;
const int YY = 2; const int YY = 2;
const int ZZ = 1; const int ZZ = 1;
//mapping depends on how cylinder local orientation is //mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height // extents of the cylinder is: X,Y is for radius, and Z for height
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 tmp; return tmp;
} }
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 tmp; return tmp;
} }
} }
btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{ {
return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec); return CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vec);
} }
btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{ {
return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec); return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vec);
} }
btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{ {
return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec); return CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vec);
} }
void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{ {
for (int i=0;i<numVectors;i++) for (int i = 0; i < numVectors; i++)
{ {
supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]); supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vectors[i]);
} }
} }
void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{ {
for (int i=0;i<numVectors;i++) for (int i = 0; i < numVectors; i++)
{ {
supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]); supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vectors[i]);
} }
} }
void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{ {
for (int i=0;i<numVectors;i++) for (int i = 0; i < numVectors; i++)
{ {
supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]); supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vectors[i]);
} }
} }