diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h | 29 |
1 files changed, 12 insertions, 17 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h index 8d40d19a03..e0c3a5cf97 100644 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h +++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h @@ -1,40 +1,35 @@ #ifndef B3_UPDATE_AABBS_H #define B3_UPDATE_AABBS_H - - #include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" - - -void b3ComputeWorldAabb( int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs) +void b3ComputeWorldAabb(int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs) { __global const b3RigidBodyData_t* body = &bodies[bodyId]; b3Float4 position = body->m_pos; - b3Quat orientation = body->m_quat; - + b3Quat orientation = body->m_quat; + int collidableIndex = body->m_collidableIdx; int shapeIndex = collidables[collidableIndex].m_shapeIndex; - - if (shapeIndex>=0) + + if (shapeIndex >= 0) { - b3Aabb_t localAabb = localShapeAABB[collidableIndex]; b3Aabb_t worldAabb; - - b3Float4 aabbAMinOut,aabbAMaxOut; + + b3Float4 aabbAMinOut, aabbAMaxOut; float margin = 0.f; - b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut); - - worldAabb.m_minVec =aabbAMinOut; + b3TransformAabb2(localAabb.m_minVec, localAabb.m_maxVec, margin, position, orientation, &aabbAMinOut, &aabbAMaxOut); + + worldAabb.m_minVec = aabbAMinOut; worldAabb.m_minIndices[3] = bodyId; worldAabb.m_maxVec = aabbAMaxOut; - worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1; + worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass == 0.f ? 0 : 1; worldAabbs[bodyId] = worldAabb; } } -#endif //B3_UPDATE_AABBS_H +#endif //B3_UPDATE_AABBS_H |