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

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

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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.
*/ */
#ifndef BT_CYLINDER_MINKOWSKI_H #ifndef BT_CYLINDER_MINKOWSKI_H
#define BT_CYLINDER_MINKOWSKI_H #define BT_CYLINDER_MINKOWSKI_H
#include "btBoxShape.h" #include "btBoxShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "LinearMath/btVector3.h" #include "LinearMath/btVector3.h"
/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis. /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape ATTRIBUTE_ALIGNED16(class)
btCylinderShape : public btConvexInternalShape
{ {
protected: protected:
int m_upAxis; int m_upAxis;
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 getHalfExtentsWithMargin() const btVector3 getHalfExtentsWithMargin() const
{ {
btVector3 halfExtents = getHalfExtentsWithoutMargin(); btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin()); btVector3 margin(getMargin(), getMargin(), getMargin());
halfExtents += margin; halfExtents += margin;
return halfExtents; return halfExtents;
} }
const btVector3& getHalfExtentsWithoutMargin() const const btVector3& getHalfExtentsWithoutMargin() const
{ {
return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included return m_implicitShapeDimensions; //changed in Bullet 2.63: assume the scaling and margin are included
} }
btCylinderShape (const btVector3& halfExtents); btCylinderShape(const btVector3& halfExtents);
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
virtual void setMargin(btScalar collisionMargin) virtual void setMargin(btScalar collisionMargin)
{ {
//correct the m_implicitShapeDimensions for the margin //correct the m_implicitShapeDimensions for the margin
btVector3 oldMargin(getMargin(),getMargin(),getMargin()); btVector3 oldMargin(getMargin(), getMargin(), getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
btConvexInternalShape::setMargin(collisionMargin); btConvexInternalShape::setMargin(collisionMargin);
btVector3 newMargin(getMargin(),getMargin(),getMargin()); btVector3 newMargin(getMargin(), getMargin(), getMargin());
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
} }
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{ {
btVector3 supVertex; btVector3 supVertex;
supVertex = localGetSupportingVertexWithoutMargin(vec); 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;
} }
//use box inertia //use box inertia
// virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
int getUpAxis() const int getUpAxis() const
{ {
return m_upAxis; return m_upAxis;
} }
virtual btVector3 getAnisotropicRollingFrictionDirection() const virtual btVector3 getAnisotropicRollingFrictionDirection() const
{ {
btVector3 aniDir(0,0,0); btVector3 aniDir(0, 0, 0);
aniDir[getUpAxis()]=1; aniDir[getUpAxis()] = 1;
return aniDir; return aniDir;
} }
virtual btScalar getRadius() const virtual btScalar getRadius() const
{ {
return getHalfExtentsWithMargin().getX(); return getHalfExtentsWithMargin().getX();
} }
virtual void setLocalScaling(const btVector3& scaling) virtual void setLocalScaling(const btVector3& scaling)
{ {
btVector3 oldMargin(getMargin(),getMargin(),getMargin()); btVector3 oldMargin(getMargin(), getMargin(), getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling); btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
} }
//debugging //debugging
virtual const char* getName()const virtual const char* getName() const
{ {
return "CylinderY"; return "CylinderY";
} }
virtual int calculateSerializeBufferSize() const; virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure) ///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
}; };
class btCylinderShapeX : public btCylinderShape class btCylinderShapeX : public btCylinderShape
{ {
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
btCylinderShapeX (const btVector3& halfExtents); btCylinderShapeX(const btVector3& halfExtents);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
//debugging //debugging
virtual const char* getName()const virtual const char* getName() const
{ {
return "CylinderX"; return "CylinderX";
} }
virtual btScalar getRadius() const virtual btScalar getRadius() const
{ {
return getHalfExtentsWithMargin().getY(); return getHalfExtentsWithMargin().getY();
} }
}; };
class btCylinderShapeZ : public btCylinderShape class btCylinderShapeZ : public btCylinderShape
{ {
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
btCylinderShapeZ (const btVector3& halfExtents); btCylinderShapeZ(const btVector3& halfExtents);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
//debugging //debugging
virtual const char* getName()const virtual const char* getName() const
{ {
return "CylinderZ"; return "CylinderZ";
} }
virtual btScalar getRadius() const virtual btScalar getRadius() const
{ {
return getHalfExtentsWithMargin().getX(); return getHalfExtentsWithMargin().getX();
} }
}; };
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCylinderShapeData struct btCylinderShapeData
{ {
btConvexInternalShapeData m_convexInternalShapeData; btConvexInternalShapeData m_convexInternalShapeData;
int m_upAxis; int m_upAxis;
char m_padding[4]; char m_padding[4];
}; };
SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
{ {
return sizeof(btCylinderShapeData); return sizeof(btCylinderShapeData);
} }
///fills the dataBuffer and returns the struct name (and 0 on failure) ///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
{ {
btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer; btCylinderShapeData* shapeData = (btCylinderShapeData*)dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
shapeData->m_upAxis = m_upAxis; shapeData->m_upAxis = m_upAxis;
// Fill padding with zeros to appease msan.
shapeData->m_padding[0] = 0;
shapeData->m_padding[1] = 0;
shapeData->m_padding[2] = 0;
shapeData->m_padding[3] = 0;
return "btCylinderShapeData"; return "btCylinderShapeData";
} }
#endif //BT_CYLINDER_MINKOWSKI_H #endif //BT_CYLINDER_MINKOWSKI_H